Multimaterial Digital Light Processing 3D Printing of Self-Sensing and Thermoresponsive Soft Actuators

-isopropylacrylamide) hydrogel; the incorporation of a DES synergistically enhanced its mechanical performance (compressive strength ∼1.05 MPa) while enabling effective regulation of the lower critical solution temperature (LCST: 32-46 °C). Seamless integration and robust interfacial bonding between these heterogeneous materials were achieved by systematically optimizing the printing process. The resulting bilayer actuators demonstrated efficient and tunable thermoresponsive actuation, with programmable complex deformations realized through the structural design of the active layer. Furthermore, the integrated sensing capabilities enabled self-perception, allowing the actuator to monitor its own deformation states during actuation. This multimaterial DLP 3D printing strategy established a material and processing foundation for the construction of intelligent soft systems with proprioceptive capabilities.