The surface terminations of TMC were characterized using X-ray photoelectron spectroscopy (XPS). In the as-fabricated TMC (see Figure ), the Ti 2p spectra revealed four primary oxidation states, indicating the presence of Ti-C, Ti(II), Ti-O, and Ti-F bonds. The F 1s spectra showed a predominant surface fluorine termination bonded to titanium, while the C 1s spectra exhibited peaks corresponding to carbon bonded to To further enhance the actuation performance of TMC-based soft actuators, cellulose nanofibrils (CNFs)