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To this end, herein, a modular voxel\u2010based methodology adaptable to any scale and with any soft transducer is presented. The methodology is implemented at the micrometer scale with a one\u2010step fabrication process. An innovative gray\u2010tone lithography method using the two\u2010photon polymerization of photosensitive poly(<jats:italic>N<\/jats:italic>\u2010isopropylacrylamide) hydrogel is developed to print the voxels. Bending, compression, and twisting voxels are designed, printed, and characterized. A voxel consists of an isotropically shrinking active material reinforced adequately with a passive pattern. Each elementary voxel deforms along one degree of freedom and is a building block for superstructures able of advanced kinematics. With a side length of 40\u2009\u03bcm, the bending voxel achieves a bending angle of 25\u00ba or curvature of . The compression voxel reaches an actuation strain of 40%, and the twisting voxel bends up to 18\u00ba. 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