“…Smart actuators constructed by stimuli-responsive polymers have deformational behaviors such as expansion and bending under specific stimuli such as light, − heat, − electricity, − and pH change. − They have wide application prospects in the fields of shape memory materials, , soft robotics, , artificial muscles, , microfluidics, , and drug delivery ,, and have attracted significant attentions. In the case of polymer hydrogels, it is the different swelling ratios of stimuli-responsive hydrogels under different circumstances that causes the deformational behaviors of the hydrogel actuators. ,, The most common way to achieve the bending of actuators is to construct an anisotropic structure, such as the bilayer structure. ,, For a bilayer hydrogel actuator, the shape change of the entire structure is usually caused by the different expanding/shrinking trends of each layer of the hydrogels under a certain stimulus. ,− Based on this principle, the hydrogel actuators normally exhibit a monotonic responsiveness, that is, there is only one response action after being stimulated once.…”