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The electrical signal from the piezoresistive sensor in the skin during the bending motion (change between 0 and 90° bending angle) of the tendon-based soft robotic actuator in five repeated cycles (a) before and (b) after partial damage of the ShSFC matrix and (c) after the healing of the ShSFC matrix. The pneumatic-based bending actuator with (d) partially damaged and (e) healed ShSFC matrix.
