appropriate for human-machine interactions and use in wearable devices, as they can handle soft materials and arbitrary shapes. [1][2][3] Soft actuators can be driven by mechanical, [4,5] optical, [6][7][8][9] chemical, [10] magnetic, [11][12][13] and electrical [14,15] stimuli but need to be actuated with an easily accessible power source for practical applications. Among them, electrical stimuli provided by electroactive and field-activated polymers such as electro-driven hydrogels [16] and ionic polymer-metal composites (IPMCs) [17] are considered to be the most suited for this purpose. However, electro-driven hydrogels can be used only in electrolyte-containing environments, and IPMCs feature a short-range working stroke. Thus, recent research has focused on electrically stimulated actuators driven by Joule heating rather than by direct electrical stimulation, as exemplified by shape memory polymers (SMPs) [18] and electrothermal actuators (ETAs). [19,20] SMPs exhibit the disadvantages of limited material and actuation shape diversity, as they are driven by two-stage discontinuous deformation of a specific polymer over its transition temperature. Therefore, ETAs, which are driven by bending due to the coefficient of thermal expansion (CTE)