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. 2017 Sep 19;8:596. doi: 10.1038/s41467-017-00685-3

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Fig. 3 — Force–strain characteristics of the material (15 V, 1 A). a 30 following cycles of loading to 60 N (blocked force; cylindrical specimen; diameter 15.1 mm, length 40 mm; weight 6 g). b Detailed view of three cycles in a. c Blocked force at various elongations for constrained cylindrical actuation; error bar relates to s.d. Specimen diameter 11.1 mm, length 25 mm; weight 2 g. Note that the actuation depends on heating and cooling rates