Fig. 1. Schematic diagram of the ultrasound preparation of LM micron particles

Fig. 2. Schematic diagram of the process of 4D printing LM-LCE ink and the molecular structure of LM-LCE ink

Fig. 3. Characterization of LM micron particles. （a） Photo of LM pellets dispersed in ethanol solution； （b） LM particle size distribution map； （c） LM particle picture.

Fig. 4. Performance of LM-LCE software actuators under different conditions. （a） DSC curves for inks with different LM content （mass fraction）； （b）Stress-strain curves of LM-LCE soft actuators under different LM particle concentrations （mass fraction）； （c） Effect of printing temperature and LM content （mass fraction） on actuator drive strain； （d） Effect of print speed on actuator drive strain.

Fig. 5. Schematic diagram and performance of optical drive of LM-LCE software actuator. （a） Schematic diagram of the structure and bending process of the LM-LCE software actuator； （b） Photo of the bending process of an LM-LCE software actuator； （c） UV-Vis spectrum of LM-LCE soft actuators； （d） Temperature variation curves of LM-LCE software actuator with time under different light intensities； （e） Bending angle of LM-LCE software actuator under different light intensity changes with time； （f） Schematic diagram of the structure and twisting process of the LM-LCE software actuator； （g） Photo of the twisting process of an LM-LCE software actuator.

Fig. 6. Complex deformations of LM-LCE soft actuators. （a） Schematic diagram of the deformation process of an LM-LCE soft actuator with an alternating orientation structure； （b） Photo of the deformation process of an LM-LCE soft actuator with alternating orthogonal structure； （c） Schematic diagram of the deformation process of LM-LCE soft actuator with conical array structure； （d） Deformation process of LM-LCE soft actuator with spiral array structure.