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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. 3 — a Tensile stroke and contraction speed during 10,000 fluid-driven heating-cooling actuation cycles. Inset: time dependence of contraction driven by alternatively flowing 90 °C and 25 °C water at a flow rate of 1.72 g s⁻¹. b Infrared images of the homochiral PEHF_580-990 actuators during water flow. c Experimental and theoretical results of a homochiral PEHF_580-990 actuator driven by flowing water at different temperatures. d Actuation stroke as a function of water temperature for heterochiral and homochiral PEHF_580-990 actuators with different inserted twist densities. e Schematic illustration and photograph of the heterochiral PEHF_580-990 actuator. f Comparison of the contraction and response time of PEHF_580-990 actuators with those of typical polymer fibre actuators reported in previous studies.