Figure 6

Muscle configurations for tensile and torsional actuation. Tensile load and paddle positions for (a) a two-end–tethered, fully-infiltrated, coiled, homochiral, single-ply yarn; (b) a two-end–tethered, bottom-half–infiltrated, non-coiled, twisted homochiral single-ply yarn; (c) a one-end–tethered, four-ply, fully-infiltrated homochiral yarn; and (d) a two-end–tethered, two-ply, fully-infiltrated yarn muscle comprising two homochiral segments having opposite chiralities [2]. Arrows indicate the observed direction of paddle rotation during thermal actuation. Red and green yarn-end attachments are tethers, meaning they prohibit end rotation; red attachments also prohibit translational displacement.