“…In dual/multi-layer design [ 79 , 80 ], shape-morphing happens by using different materials, forming a soft–rigid structure, where the rigid layer works as a skeleton, and the soft layer works as a muscle [ 81 ] to generate direction bending. However, according to existing analyses [ 32 , 33 , 34 , 35 , 36 , 37 , 38 , 39 , 40 , 41 , 79 , 80 , 81 , 82 , 83 , 84 , 85 , 86 , 87 , 88 , 89 , 90 , 91 , 92 , 93 , 94 , 95 , 96 , 97 , 98 , 99 , 100 , 101 , 102 , 103 , 104 , 105 , 106 , 107 , 108 , 109 , 110 ], the mechanical mismatch between multiple layers is a pitfall for repeated shape-morphing in actual usage.…”