A Programmable Soft Electrothermal Actuator Based on a Functionally Graded Structure for Multiple Deformations

Soft electrothermal actuators have attracted increasing attention in soft robotics and wearable systems due to their simple structure, low driving voltage, and ease of integration. However, traditional designs based on homogeneous or layered composites often suffer from interfacial failure and limited deformation modes, restricting their long-term stability and actuation versatility. In this study, we present a programmable soft electrothermal actuator based on a functionally graded structure composed of polydimethylsiloxane (PDMS)/multiwalled carbon nanotube (MWCNTs) composite material and an embedded EGaIn conductive circuit. Rheological and mechanical characterization confirms the enhancement of viscosity, modulus, and tensile strength with increasing MWCNTs content, confirming that the gradient structure improves mechanical performance. The device shows excellent actuation performance (bending angle up to 117°), fast response (8 s), and durability (100 cycles). The actuator achieves L-shaped, U-shaped, and V-shaped bending deformations through circuit pattern design, demonstrating precise programmability and reconfigurability. This work provides a new strategy for realizing programmable, multimodal deformation in soft systems and offers promising applications in adaptive robotics, smart devices, and human–machine interfaces.