Artificial muscles made of chiral two-way shape memory polymer fibers

In this work, we demonstrate the unusual improvement of the tensile actuation of hierarchically chiral structured artificial muscle made of two-way shape memory polymer (2W-SMP) fiber. Experimental results show that the chemically cross-linked poly(ethylene-co-vinyl acetate) 2W-SMP fibers possess an average negative coefficient of thermal expansion (NCTE) that is at least one order higher than that of the polyethylene fiber used previously. As expected, the increase in axial thermal contraction of the precursor fiber leads to an increase in the recovered torque (4.4 Nmm) of the chiral fiber and eventually in the tensile actuation of the twisted-then-coiled artificial muscle (67.81±1.82%). A mechanical model based on Castigliano's second theorem is proposed, and the calculated result is consistent with the experimental result (64.17% tensile stroke). The model proves the significance of the NCTE and the recovered torque on tensile actuation of the artificial muscle and can be used as a guidance for the future design.