This paper introduces a novel electro-ionic soft actuator based on metal-free covalent triazine frameworks (CTFs) for use in soft robotics. The actuator exhibits high bending deformation under ultralow input voltages, surpassing existing actuators in displacement and response time. The CTFs, synthesized from a polymer of intrinsic microporosity (PIM-1), are combined with PEDOT-PSS to create a high-performance flexible electrode. The actuator's capabilities are demonstrated by its successful application as a soft robotic touch finger array capable of playing an electronic piano.
