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This study introduces a novel approach to soft robotic assistive devices using untethered, soft actuators with seamlessly integrated sensing, heating, and actuation properties through digital machine knitting and low\u2010boiling liquid. The proposed soft actuator operates under a voltage of less than 12.5\u2009V, generating a tip force of up to 50\u2009mN. This actuator achieves a bending motion when filled with 2\u2009mL of low\u2010boiling liquid and supplied with 15\u2009W. The dynamic response of the actuator is examined under consistent parameters, revealing a 60\u2010second inflation time and a subsequent natural cooling period of 30\u2009s at room temperature. Notably, over 12 cycles, the tip force of the actuator exhibits minimal variation, highlighting its durability for prolonged usage. 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