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Ren et al. Soft Sci. 2026, 6, 6 Page 17 of 33

Figure 6. Magnetic and electric field actuation of 4D-printed soft microbots. (A) Magnetic field actuation mechanism. Reproduced with
permission from Ref. [119] . Copyright 2022, Springer Nature; (B) DIW printed metamaterials with neodymium microparticles for
magnetically programmable multistate stiffness. Reproduced with permission from Ref. [124] . Copyright 2025, Wiley-VCH; (C) UV curable
ferromagnetic origami film for wireless magnetic folding and gastric delivery. Reproduced with permission from Ref. . Copyright 2025,
[31]
Wiley-VCH; (D) Fe 3 O 4 polymer microgripper with embedded heaters for magnetic opening and power-free shape memory closure.
Reproduced with permission from Ref. [125] . Copyright 2025, Wiley-VCH; (E) Electric field actuation mechanism. Reproduced with
permission from Ref. [127] . Copyright 2018, American Chemical Society; (F) Electrothermal PEEK SMP composite actuator with printed
conductive ink for reversible shape morphing. Reproduced with permission from Ref. [128] . Copyright 2025, Wiley-VCH; (G) Untethered LCE
soft robot with integrated Joule heating for grasping and obstacle traversal. Reproduced with permission from Ref. [32] . Copyright 2025,
American Chemical Society; (H) Self-sensing heterogeneous polymer composites with Joule heating for high load lifting and multigait
crawling. Reproduced with permission from Ref. [129] . Copyright 2024, Wiley-VCH. 4D: Four-dimensional; DIW: direct ink writing; UV:
ultraviolet; PEEK: poly(ether ether ketone); SMP: shape memory polymer; LCE: liquid crystal elastomer; EA: electro adhesive.