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(a) Chemical structure of the monomers used to synthesize siloxane xLCEs by Ji et al. (b) Remolding a flat xLCE sheet into a 3D convex actuator. Scale bar: 2 mm. (c) Demonstration of reprogramming of the one-arm bending motion (i) into four-arm bending motion (ii) for lifting objects. Adapted with permission from ref (98). Copyright 2020 John Wiley and Sons.
