“…Up to now, the intrinsic features of electromagnetic motors like low specific power, bulky frame, rigid structure, and complicated control system, cannot meet the requirement of light weight, high flexibility, and easy control for soft micromotors, which have a wide range of applications in flexible electronics 1,2 , soft robotics 3,4 , biomedical implantation 5 , and aerospace 6,7 . Recently, soft actuators made of various types of electroactive polymers (EAPs) with electric-field-induced deformation have received considerable attention in the aforementioned fields [8][9][10][11][12][13] . Different from the actuators with ferroelectric polymers 11,13 , dielectric elastomer actuator (DEAs), an electrically stimulus-responsive actuator, show great potential for the large strain and superior flexibility 8,12,14,15 .…”