Soft actuators are highly desirable in soft robots, electronic devices, wearable devices, etc. Both multi-stimuli responsiveness and multichannel self-healing ability are essential for soft actuators to be used in different circumstances. However, to date, research on soft actuators with multi-stimuli response or multichannel self-healing ability is scarce, and there is none on actuators with both multi-stimuli abilities.

Here, we show that simply hot-pressing carbonized silk fabrics into the surface of vitrimers results in a thermosetting soft actuator that can be efficiently and repeatedly self-healed by five stimuli (light, electricity, electromagnetic wave, solvent, and heat) and can respond to four stimuli (light, electricity, heat, and solvent) simultaneously. Moreover, due to the nature of vitrimer, it is robust, sustainable, recyclable, and reprocessable. This soft actuator may greatly broaden its applications, as it is hopefully healed and actuated by a handy and facile tool when it is used in different environmental circumstances.

软执行器在软机器人、电子设备、可穿戴设备等中非常受欢迎。多刺激响应和多通道自愈能力对于软执行器在不同环境中的使用至关重要。然而，迄今为止，对具有多刺激响应或多通道自愈能力的软执行器的研究很少，而且还没有同时具有多刺激能力的执行器。

在这里，我们展示了简单地将碳化丝织物热压到玻璃体表面会产生热固性软致动器，该致动器可以通过五种刺激（光、电、电磁波、溶剂和热）有效且反复地自我修复，并且可以同时对四种刺激（光、电、热和溶剂）做出反应。此外，由于玻璃体的性质，它坚固、可持续、可回收和可再加工。这种软致动器可能会极大地拓宽其应用范围，因为当它在不同的环境条件下使用时，它有望通过一种方便且简便的工具来治愈和致动。