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Typical results from morphing experiments: snapshot of morphed rays at three levels of imposed actuation displacement u0 for (a) rays with no core (coreless) and (b) rays with rubber ligament cores (130 ligaments m−1); (c) comparison of morphed profiles (elastica); (d) comparison of actuation force–displacement (F 0 –u 0 ) curves for coreless fin ray (black) and ray with rubber ligamentous core region (blue).
