Soft Actuator with Integrated and Localized Sensing Properties through Parameter-Encoded 4D Printing

4D printed smart materials is mostly relying on thermal stimulation to actuate, limiting their widely application requiring precise and localized control of the deformations. Most existing strategies for achieving localized control rely on heterogeneous material systems and structural design, thereby increasing design and manufacturing complexity. Here, we endow localized electrothermal, actuation, and sensing properties in electrically-driven soft actuator through parameter-encoded 4D printing. We analyzed the effects of printing parameters on shape memory properties and conductivity, and then explored the multi-directional sensing performance of the 4D printed composites. We demonstrated an integrated actuator-sensor device capable of both shape recovery and perceiving its own position and obstacles simultaneously. Moreover, it can adjust its sensing characteristics through temporary shape programming to adapt to different application scenarios. This study achieves integrated and localized actuation-sensing without the need for multi-material systems and intricate structural designs, offering an efficient solution for the intelligent and lightweight design in the fields of soft robotics, biomedical applications, and aerospace.