[1] [1] Zhou L-Y, Fu J Z and He Y 2020 A review of 3D printing technologies for soft polymer materials Adv. Funct. Mater.30 2000187

[2] [2] Yap Y L, Sing S L and Yeong W Y 2020 A review of 3D printing processes and materials for soft robotics Rapid Prototyp. J.26 1345–61

[3] [3] Cianchetti M, Laschi C, Menciassi A and Dario P 2018 Biomedical applications of soft robotics Nat. Rev. Mater.3 143–53

[4] [4] Li J and Mooney D J 2016 Designing hydrogels for controlled drug delivery Nat. Rev. Mater.1 16071

[5] [5] Huang Y L, Xu Y Y, Bisoyi H K, Liu Z C, Wang J Y, Tao Y, Yang T, Huang S, Yang H and Li Q 2023 Photocontrollable elongation actuation of liquid crystal elastomer films with well-defined crease structures Adv. Mater.35 2304378

[6] [6] Gao J J, Tang Y Q, Martella D, Guo J B, Wiersma D S and Li Q 2023 Stimuli-responsive photonic actuators for integrated biomimetic and intelligent systems Responsive Mater.1 e20230008

[7] [7] Ma S S, Xue P, Tang Y Q, Bi R, Xu X H, Wang L and Li Q 2024 Responsive soft actuators with MXene nanomaterials Responsive Mater.2 e20230026

[8] [8] Wang H Q, Tang Y Q, Huang Z Y, Wang F Z, Qiu P F, Zhang X F, Li C H and Li Q 2023 A dual-responsive liquid crystal elastomer for multi-level encryption and transient information display Angew Chem., Int. Ed.62 e202313728

[9] [9] Shintake J, Cacucciolo V, Floreano D and Shea H 2018 Soft robotic grippers Adv. Mater.30 1707035

[10] [10] Jiao Z D, Zhang C, Wang W, Pan M, Yang H Y and Zou J 2019 Advanced artificial muscle for flexible material-based reconfigurable soft robots Adv. Sci.6 1901371

[11] [11] Li G et al 2021 Self-powered soft robot in the Mariana Trench Nature591 66–71

[12] [12] Phillips B T et al 2018 A dexterous, glove-based teleoperable low-power soft robotic arm for delicate deep-sea biological exploration Sci. Rep.8 14779

[13] [13] Tabor D 1994 The bulk modulus of rubber Polymer35 2759–63

[14] [14] Birch F 1938 The effect of pressure upon the elastic parameters of isotropic solids, according to Murnaghan’s theory of finite strain J. Appl. Phys.9 279–88

[15] [15] Milligan R V 1967 The gross hydrostatic-pressure effect as related to foil and wire strain gages: data are presented by the author to show the influence of several parameters on gross pressure effects Exp. Mech.7 67–74

[16] [16] Foster C G 1977 Response of foil strain gages to hydraulic pressure: paper reports on the performance of foil strain gages immersed in a pressurized hydraulic environment and subjected to various biaxial-stress states as well as fluctuating pressures Exp. Mech.17 26–32

[17] [17] Bridgman P W 1945 Effects of high hydrostatic pressure on the plastic properties of metals Rev. Mod. Phys.17 3–14

[18] [18] Bridgman P W 1946 The tensile properties of several special steels and certain other materials under pressure J. Appl. Phys.17 201–12

[19] [19] Bridgman P W 1947 The effect of hydrostatic pressure on the fracture of brittle substances J. Appl. Phys.18 246–58

[20] [20] Bridgman P W 1953 The effect of pressure on the tensile properties of several metals and other materials J. Appl. Phys.24 560–70

[21] [21] Bridgman P W and imon I 2004 Effects of very high pressures on glass J. Appl. Phys.24 405–13

[22] [22] Paterson M S 1964 Effect of pressure on young’s modulus and the glass transition in rubbers J. Appl. Phys.35 176–9

[23] [23] Holliday L, Mann J, Pogany G A, Pugh H L D and Gunn D A 1964 Ductility of polystyrene Nature202 381–2

[24] [24] Sardar D, Radcliffe S V and Baer E 1968 Effects of high hydrostatic pressure on the mechanical behavior of a crystalline polymer-polyoxymethylene Polym. Eng. Sci8 290–301

[25] [25] Christiansen A W, Baer E and Radcliffe S V 1971 The mechanical behaviour of polymers under high pressure Phil. Mag.24 451–67

[26] [26] Matsushige K, Radcliffe S V and Baer E 1975 The mechanical behaviour of polystyrene under pressure J. Mater. Sci.10 833–45

[27] [27] Gordon R B and Mike L F 1967 Measurement of the mechanical properties of solids at high pressure Rev. Sci. Instrum38 541–6

[28] [28] Hine P J, Duckett R A, Kaddour A S, Hinton M and Wells G 2005 The effect of hydrostatic pressure on the mechanical properties of glass fibre/epoxy unidirectional composites Composites A 36 279–89

[29] [29] Tarantino M G, Weber L and Mortensen A 2016 Effect of hydrostatic pressure on flow and deformation in highly reinforced particulate composites Acta Mater.117 345–55

[30] [30] Wang L, Dresen G, Rybacki E, Bonnelye A and Bohnhoff M 2020 Pressure-dependent bulk compressibility of a porous granular material modeled by improved contact mechanics and micromechanical approaches: effects of surface roughness of grains Acta Mater.188 259–72

[31] [31] Brace W F 1964 Effect of pressure on electric-resistance strain gages Exp. Mech.4 212–6

[32] [32] Jansen K M B 1997 Effect of pressure on electrical resistance strain gages Exp. Mech.37 245–9

[33] [33] Du Q H, Xu D H and Liu D 2022 Experimental and numerical analysis on pressure effect of polymethyl methacrylate (PMMA) structure in electric-resistance strain measurement Ships Offshore Struct.17 2001–11

[34] [34] Suwanpakpraek K, Patamaprohm B, Phongphinittana E and Chaikittiratana A 2020 Experimental investigation and finite element modelling of the influence of hydrostatic pressure on adhesive joint failure IOP Conf. Ser.: Mater. Sci. Eng.886 012052

[35] [35] Pugh H L D, Chandler E F, Holliday L and Mann J 1971 The effect of hydrostatic pressure on the tensile properties of plastics Polym. Eng. Sci11 463–73

[36] [36] Mears D R, Pae K D and Sauer J A 1969 Effects of hydrostatic pressure on the mechanical behavior of polyethylene and polypropylene J. Appl. Phys.40 4229–37

[37] [37] Sauer J A, Mears D R and Pae K D 1970 Effects of hydrostatic pressure on the mechanical behaviour of polytetrafluoroethylene and polycarbonate Eur. Polym. J.6 1015–22, IN3, 1023–32

[38] [38] Wang X Y, Sprinkle B, Bisoyi H K, Yang T, Chen L X, Huang S and Li Q 2023 Colloidal tubular microrobots for cargo transport and compression Proc. Natl Acad. Sci. USA120 e2304685120

[39] [39] Zhao R K, Kim Y, Chester S A, Sharma P and Zhao X H 2019 Mechanics of hard-magnetic soft materials J. Mech. Phys. Solids124 244–63

[40] [40] Kim Y and Zhao X H 2022 Magnetic soft materials and robots Chem. Rev.122 5317–64

[41] [41] Zhang C Q, Li X J, Jiang L M, Tang D F, Xu H, Zhao P, Fu J Z, Zhou Q F and Chen Y 2021 3D printing of functional magnetic materials: from design to applications Adv. Funct. Mater.31 2102777

[42] [42] Hu H et al 2022 Wireless flexible magnetic tactile sensor with super-resolution in large-areas ACS Nano16 19271–80

[43] [43] Hu Z Z, Zhang C Q, Sun H N, Ma X J and Zhao P 2023 Length manipulation of hard magnetic particle chains under rotating magnetic fields Sens. Actuators A 361 114562

[44] [44] Tang D F, Zhang C Q, Sun H N, Dai H Z, Xie J, Fu J Z and Zhao P 2021 Origami-inspired magnetic-driven soft actuators with programmable designs and multiple applications Nano Energy89 106424

[45] [45] Tari H 2013 On the parametric large deflection study of Euler–Bernoulli cantilever beams subjected to combined tip point loading Int. J. Non-Linear Mech.49 90–99

[46] [46] Edwards S F 1965 The statistical mechanics of polymers with excluded volume Proc. Phys. Soc.85 613–24

[47] [47] Feng T et al 2024 Tunable topological phase transition in soft Rayleigh beam system with imperfect interfaces Int. J. Mech. Sci.265 108892