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Soft robotic actuator. (A) Rendering of molds for holding antagonistic SMA wires and casting LMEE. (B) Illustration of thermal LMEE actuator with embedded LMEE wires. (C) The actuator bending angle is determined in Tracker. (D) Cyclical deformation of actuator during 5-Hz activation after 5 (solid blue curve) and 30 (dashed red) min.
