Humidity-Compensated Multi-Stimuli Soft Actuator with Asymmetric Bilayer Design

. The asymmetric bilayer design enables programmable deformation under light, humidity, and magnetic fields, replicating biomimetic motions such as jellyfish swimming, pine-cone closing, and earthworm crawling through tunable stimulus parameters. Notably, a humidity-induced residual deformation compensation mechanism enables near-complete recovery (98.5%) from photothermal bending, overcoming a key limitation in existing multistimulus actuators. This work establishes a humidity-compensated, multistimulus paradigm that bridges nanophotonics, elastomer mechanics, and hydration dynamics for intelligent soft robots.