Day-0 fatigue loading protocol. Fatigue loading is applied to x cycles that range from 1 to 40N at 1 Hz (x=5, 100, 500, 7,200, or 10,800). Diagnostic tests are applied before (Diag1), immediately after (Diag2), and 45 mins (Diag3) after fatigue loading. Hysteresis and stiffness of the loading and unloading load-displacement curves were calculated and averaged for the last 10 cycles and then compared between Diag2 and Diag3 to determine the day-0 recoverable effect of fatigue loading, and between Diag1 and Diag3 to determine the day-0 non-recoverable effect of fatigue loading. Day-0 recoverable and non-recoverable elongation was determined by comparing the actuator position at the start of the last 10 cycles between Diag2 and Diag3, and between Diag1 and Diag3, respectively.