“…[6][7][8] The most investigated active materials for soft actuators comprise dielectric elastomers, conductive polymers, piezo/ferroelectric materials, stimuli-responsive gels, coiled/twisted polymer fibers and yarns, shape memory materials, fluid-driven materials and photoisomerizable organic polymers. [9][10][11][12][13][14][15][16][17][18] Depending on the physical mechanisms underlying the actuation, they can be operated by different stimuli, including electric fields, temperature, pressure, magnetic field, humidity or light irradiation.…”