revise，SOFT robots, characterized by their compliant and soft na-
ture, have demonstrated superior performance in human-
robot interaction and adapting to complex environments [1]–
[3]. To actuate the soft robots, various soft actuators have been
developed, such as pneumatic actuators [4], [5], dielectric elas-
tomer actuators (DEAs) [6], [7], hydraulically amplified self-
healing electrostatic (HASEL) actuators [8], shape memory
polymer [9], etc. Among them, DEAs have been widely used
due to their large deformation, low noise, lightweight, and high
energy density [10], [11]. Utilizing DEAs, various soft robots
have been developed, such as fish robot [6], flying robot [12],
insect robot [13], wall climbing robot [14], pipeline inspection
robot, etc [15]. While one single DEA can generate a single
DOF motion, incorporating multiple DEAs can intuitively
lead to more versatile devices/robots, such as devices for
triggering buckling structures [16], biomimetic eyeballs which
can achieve human-like motion [17], a light-weight robotic Give two different versions of responses. Please separate the responses with 6 asterisk symbols: ******.
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