A Dual-Driven Hydrogel Actuator With Programmable Driving Force Enabled by a Shape-Memory Scaffold and Ion-Regulated Internal Force Reservoir.

Programmable soft actuators require independent control over both deformation pathways and driving-force output, yet conventional shape-memory systems generally encode these functions within a fixed network and therefore exhibit predetermined recovery behavior. Herein, we report a porous shape-memory polymer/hydrogel actuator (SMP-Net gel) that transforms fixed-force shape recovery into ion-programmable actuation. The actuator integrates a thermally programmable glycerol-polycaprolactone methacrylic anhydride (GPCL-MA) scaffold with an interpenetrating PAM/PVA hydrogel network. The porous scaffold determines the macroscopic shape-memory trajectory, whereas the confined hydrogel functions as a Hofmeister-responsive internal force reservoir. Ion-specific regulation of chain aggregation and hydrogen bonding enables broad adjustment of the mechanical state, with strain and stress tunable over 43%-140% and 0.83-1.80 MPa, respectively, while simultaneously accelerating or retarding NIR-triggered shape recovery. This dual-driving architecture further supports reversible shape programming, controllable bending amplitude, recovery-time regulation, and spatially selective deformation under localized NIR irradiation. Remote gripping, release, and multistep motion demonstrate the capability of the SMP-Net gel for complex actuation tasks. This work establishes a general strategy for integrating shape-memory scaffolds with ion-regulated soft networks, opening a new route toward adaptive actuators, biomimetic machines, and intelligent soft robotic systems.