The basic design is a shape memory alloy-based soft actuator with embedded stiffness-varying structures serving as modifiable endoskeletons.

Combining compliant electrode arrays in open-mesh constructs with hydrogels yields a class of soft actuator, capable of complex, programmable changes in shape.

Our results showed that the position and running direction of the soft actuator band decreased the forces of the iliopsoas and hamstring muscles.

We printed the self-coagulating conductive Pickering emulsion onto a variety of soft polymeric systems, including all- soft actuators and conventional textiles, to sensitize these systems.