The natural muscle, composed of living cells, responds to neural signals by contracting and converting the chemical energy stored in adenosine triphosphate into mechanical energy [1]. This biological process underlies all animal movement. Similarly, artificial muscles, or soft actuators, are made from compliant materials that respond to external stimuli, deforming and converting input energy into mechanical work [1–3]. Unlike natural muscles, the stimuli for artificial muscles often serve as their input energy.