Piskarev, YegorFloreano, DarioShintake, Jun2023-07-032023-07-032023-07-032023https://infoscience.epfl.ch/handle/20.500.14299/198813A hollow variable stiffness thread including a flexible inner tube, a conductive shape memory polymer (CSMP) layer arranged around the inner tube forming a variable stiffness zone, a flexible encapsulation layer arranged around the CSMP layer, and a first electrode and a second electrode, at least a portion of the first and the second electrodes being in contact with the CSMP layer.patentWO202309994979024354