Hydrogels are wet and biocompatible and are used as scaffolds for tissue engineering, vehicles for drug delivery, actuators for optics and fluidics, and model extracellular matrices for biological studies. Three-dimensional (3D) printing methods, especially direct ink writing, have been wildly used, allowing the rapid and complex design and fabrication of hydrogels. Taking advantages of 3D printing, hydrogels with different properties can be easily manipulated. Lots of existing works have reported 3D printing of tough hydrogels for biomedical application. We employed responsive particles embedded in hydrogel precursor as the ink for the direct ink writing process. Subjected to the in situ external fields, the as-prepared precursor was printed in well-designed paths with on-demand properties. In this way, we prepared hydrogel actuators not only with notable mechanical property, but also with large deformation and programmable deformation mode. Moreover, using our strategy we demonstrate a soft active bandage that can rub the ointment on affected areas with a controllable manner, and an untethered gripper for medicine.