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Page 12 of 33 Ren et al. Soft Sci. 2026, 6, 6

Figure 4. 4D-printed soft microbots based on SMPs and magnetic nanocomposite polymers. (A) SMP actuation mechanism. Reproduced
with permission from Ref. [92] . Copyright 2023, MDPI; (B) Dynamic covalent SMP artificial muscle with body temperature recovery, self-
healing and recyclable biodegradable network. Reproduced with permission from Ref. [93] . Copyright 2024, Wiley-VCH; (C) High-resolution
DLP printed covalent adaptable SMP architecture for repeated reconfiguration. Reproduced with permission from Ref. [94] . Copyright 2024,
American Association for the Advancement of Science; (D) WO 2.9 nanoparticle doped SMP nanocomposite via DLP for optically
addressable reversible morphing. Reproduced with permission from Ref. [95] . Copyright 2024, Wiley-VCH; (E) Magnetic nanocomposite
polymers actuation mechanism. Reproduced with permission from Ref. [96] . Copyright 2020, Wiley-VCH; (F) Laser rewritable magnetic
elastomer film for single field multimodal morphing. Reproduced with permission from Ref. [100] . Copyright 2020, Springer Nature; (G)
Coaxial core sheath fiber for actuation sensing and wireless power. Reproduced with permission from Ref. [101] . Copyright 2023, Springer
Nature; (H) DIW ferromagnetic elastomer with aligned domains for rapid magnetic morphing. Reproduced with permission from Ref. [102] .
Copyright 2018, Springer Nature. 4D: Four-dimensional; SMPs: shape memory polymers; DLP: digital light processing; DIW: direct ink
writing; HDI: hexamethylene diisocyanate; DB: 3,4-dihydroxybenzaldehyde; UV: ultraviolet; SM: shape memory; MRC-SMP: mechanically
robust covalent adaptable networks shape memory polymer; NIR: near infrared; MPs: microparticles; 2-DOF: two degrees of freedom;
PDMS: polydimethylsiloxane; MME: magnetic-mechanical-electrical.