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. 2022 Jul 6;12:11398. doi: 10.1038/s41598-022-15682-w

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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 licence, and indicate if changes were made. The images or other third party material in this article are included in the article's Creative Commons licence, unless indicated otherwise in a credit line to the material. If material is not included in the article's Creative Commons licence 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 licence, visit http://creativecommons.org/licenses/by/4.0/.

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Performance evaluation of fabric muscle under FAC. (a) Front view of fabric muscle attached with two small fans for forced air cooling (left). A thermocouple is attached inside the fabric muscle to measure the actuation temperature of the fabric muscle (right). (b) The upper end of the fabric muscle was fixed to a frame, and a 4 kg mass was hung at the lower end. Sequence of contraction and relaxation by 19 A and 1.5 s Joule heating and FAC. (c) Comparison of relaxation rates of fabric muscle measured during Joule heating and cooling under different cooling conditions (see Video S1). Comparison of change in (d) displacement and (e) temperature when performing contraction-relaxation at actuating frequency of 10 s under NCC and FAC.