In addition to vacuum filtration, aerosol jet printing (AJP) was adopted to fabricate soft robotics at multiple scales. AJP is a contactless direct-write approach facilitating the production of fine features on a wide range of substrates. Originally developed for electronic circuitry manufacturing, AJP has been applied in various applications such as actuators and flexible electronics , offering desirable conformity and design flexibility. As illustrated in Figures and, the vacuum filtration method used vacuum to filter the