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Ren et al. Soft Sci. 2026, 6, 6 Page 19 of 33
Figure 7. Ultrasound and chemical stimuli actuation of 4D-printed soft microbots. (A) Ultrasound actuation mechanism. Reproduced with
permission from Ref. [130] . Copyright 2024, National Academy of Sciences; (B) Acoustically activated micromachine with stiffness
programmed soft hinges for millisecond folding. Reproduced with permission from Ref. [130] . Copyright 2024, National Academy of
Sciences; (C) Ultrasound-driven hydrogel micromachine with variable-stiffness hinges for rapid letter-to-character morphing and fast
channel navigation. Reproduced with permission from Ref. [33] . Copyright 2025, Elsevier; (D) Focused ultrasound phase transition soft robot
for millimeter scale selective actuation and Newton level force. Reproduced with permission from Ref. [132] . Copyright 2024, Springer
Nature; (E) Chemical stimuli actuation mechanism. Reproduced with permission from Ref. [119] . Copyright 2022, Springer Nature; (F) TPP
printed micro hinged hydrogel actuator driven by pH-responsive hydrogel muscles for programmable multi-degree of freedom folding.
