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. 2022 Mar 14;13:1331. doi: 10.1038/s41467-022-29088-9

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© The Author(s) 2022

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. 2 — a Schematic and b serial images of a twisted PEHF_580-990 actuator during water flow. c Maximum rotation angle and maximum rotation speed as a function of inserted twist density. d Comparison of the torsional PEHF_580-990 actuator driven by 95 °C water and air. e, f Experimental and theoretical results of the rotation angle as a function of time for the twisted PEHF_580-990 actuator at different temperatures (e) and inserted twist densities (f). If not specified, in the following figure captions, the actuation was driven by 95 °C water, and the water flow rate was 0.5 g s⁻¹. If not specified, the error bars in c and in the following figures indicate standard deviations.