The high cost of powerful, large-stroke, high-stress artificial muscles has combined with performance limitations such as low cycle life, hysteresis, and low efficiency to restrict applications. We demonstrated that inexpensive high-strength polymer fibers used for fishing line and sewing thread can be easily transformed by twist insertion to provide fast, scalable, nonhysteretic, long-life tensile and torsional muscles. Extreme twisting produces coiled muscles that can contract by 49%, lift loads over 100 times heavier than can human muscle of the same length and weight, and generate 5.3 kilowatts of mechanical work per kilogram of muscle weight, similar to that produced by a jet engine. Woven textiles that change porosity in response to temperature and actuating window shutters that could help conserve energy were also demonstrated. Large-stroke tensile actuation was theoretically and experimentally shown to result from torsional actuation.

Mechanical energy harvesters are needed for diverse applications, including self-powered wireless sensors, structural and human health monitoring systems, and the extraction of energy from ocean waves. We report carbon nanotube yarn harvesters that electrochemically convert tensile or torsional mechanical energy into electrical energy without requiring an external bias voltage. Stretching coiled yarns generated 250 watts per kilogram of peak electrical power when cycled up to 30 hertz, as well as up to 41.2 joules per kilogram of electrical energy per mechanical cycle, when normalized to harvester yarn weight. These energy harvesters were used in the ocean to harvest wave energy, combined with thermally driven artificial muscles to convert temperature fluctuations to electrical energy, sewn into textiles for use as self-powered respiration sensors, and used to power a light-emitting diode and to charge a storage capacitor.

Flexible, wearable, implantable and easily reconfigurable supercapacitors delivering high energy and power densities are needed for electronic devices. Here we demonstrate weavable, sewable, knottable and braidable yarns that function as high performance electrodes of redox supercapacitors. A novel technology, gradient biscrolling, provides fastion-transport yarn in which hundreds of layers of conducting-polymer-infiltrated carbon nanotube sheet are scrolled into B20 mm diameter yarn. Plying the biscrolled yarn with a metal wire current collector increases power generation capabilities. The volumetric capacitance is high (up to B179 F cm À 3 ) and the discharge current of the plied yarn supercapacitor linearly increases with voltage scan rate up to B80 Vs À 1 and B20 Vs À 1 for liquid and solid electrolytes, respectively. The exceptionally high energy and power densities for the complete supercapacitor, and high cycle life that little depends on winding or sewing (92%, 99% after 10,000 cycles, respectively) are important for the applications in electronic textiles.

Although guest-filled carbon nanotube yarns provide record performance as torsional and tensile artificial muscles, they are expensive, and only part of the muscle effectively contributes to actuation. We describe a muscle type that provides higher performance, in which the guest that drives actuation is a sheath on a twisted or coiled core that can be an inexpensive yarn. This change from guest-filled to sheath-run artificial muscles increases the maximum work capacity by factors of 1.70 to 2.15 for tensile muscles driven electrothermally or by vapor absorption. A sheath-run electrochemical muscle generates 1.98 watts per gram of average contractile power-40 times that for human muscle and 9.0 times that of the highest power alternative electrochemical muscle.Theory predicts the observed performance advantages of sheath-run muscles.