Ah you're talking about smart fabrics.
These are generally a composite of several different materials.

The only people currently doing this are mark forge. With their continuous filamet printer that prints kevlar, fibreglass, carbon fibre etc into a nylon substrate. .

I like the idea of a flexible filament that contracts.
The main issue you have is that in order for it to be printed it has to be melted first.
The blend of several different filaments being mixed/blended and extruded together, is where the smart printed materials will come from.