“…The ink for extrusion-based printing should have shear-thinning behavior or sol-gel transition, which can be achieved through solvent exchange, charge shielding, temperature variation, and post-curing. − While extrusion-based printing has been extensively used in various hydrogel systems, it suffers low printing efficiency, relatively poor accuracy, and challenges in printing small and high-precision structures . In contrast, photocuring printing, especially voxel printing achieved by precise light source control, offers high precision and efficiency and favors printing more complex structures. ,,, The most widely used hydrogel systems for printed soft actuators and robots include polyacrylic acid (PAAc) gels, polyacrylamide (PAAm) gels, poly( N -isopropylacrylamide) (PNIPAm) gels, , hyaluronic acid gels, chitosan gels, and alginate gels …”