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Here, we report on a 3D\u2010printed hybrid protein\u2010polymer hydrogel actuator that operates via\u00a0\n                    <jats:italic>endogenous biochemical logic<\/jats:italic>\n                    , enabling fully autonomous dual\u2010stage shape morphing and enzyme\u2010triggered drug release in gastric\u2010mimicking environments. The actuator comprises a bilayer structure: an active layer based on bovine serum albumin\u2010poly (ethylene glycol) diacrylate (BSA\u2010PEGDA), and a passive PEGDA layer. In acidic gastric fluid, the BSA\u2010PEGDA layer undergoes rapid conformational swelling, followed by delayed softening from pepsin\u2010mediated degradation, autonomously driving reversible shape transitions without manual intervention. By embedding doxorubicin (DOX) within the BSA\u2010PEGDA hydrogel network, the system achieves site\u2010specific, enzyme\u2010gated drug release that is tunable using pepstatin A as a biochemical inhibitor. High\u2010resolution digital light processing (DLP) printing enables the fabrication of complex autonomous actuators and microneedle\u2010equipped grippers capable of mucosal adhesion, catch\u2010and\u2010release behavior, and controlled delivery. This work establishes a materials design strategy where biochemical cues are used as programmable inputs to drive mechanical and therapeutic outputs, offering a robust platform for bioresponsive soft robotics and in situ drug delivery.\n                  <\/jats:p>","DOI":"10.1002\/adma.202516809","type":"journal-article","created":{"date-parts":[[2026,1,22]],"date-time":"2026-01-22T07:08:23Z","timestamp":1769065703000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":11,"title":["Autonomous Hydrogel Actuators Programmed by Endogenous Biochemical Logic for Dual\u2010Stage Morphing and Drug Release"],"prefix":"10.1002","volume":"38","author":[{"given":"Yuchen","family":"Liu","sequence":"first","affiliation":[{"name":"Department of Materials Science and Engineering Technion Israel Institute of Technology  Haifa 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