“…Actuators are devices that are able to change the shape reversibly driven by external stimuli, , including light, − heat, − electricity, , humidity, − ions (such as salts , and pH , ), etc., or to release stored energy by mechanical deformation to realize programmed shape shifting or complete asynchronous/synchronous actions via the reconfiguration of geometry-determining skeletons and/or the programming of actuation-controlling units. − With the rapid development of actuators, the concept of ‘smaller, lighter, and softer’ becomes more and more important. As compared to the traditional actuators composed of hard and heavy substrates that are commonly driven by pneumatic, hydraulic, and electromagnetic technologies, soft actuators composed of compliant substrates allow for increased flexibility and adaptability for accomplishing sophisticated tasks with improved safety and device fabricating capability and as a result have attracted increasing interest in recent years.…”