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Inspired by the growing demand for smart and environmentally friendly polymer materials, we employed 2,2′-disulfanediyldianiline (22DTDA) as a chain extender to synthesize a waterborne polyurethane (WPUR). Due to the ortho-substituted structure of the aromatic disulfide, the urea moieties formed a unique microphase structure in the WPUR, its mechanical strength was enhanced more 180 times relative to that of the material prepared without 22DTDA, and excellent self-healing abilities at body temperature in air or under ultrasound in water were obtained. If the self-healing process was carried out at 37 °C, 50 °C or under ultrasound, the ultimate tensile strength and elongation at break of the healed film could reach 13.8 MPa and 1150%, 15.4 MPa and 1215%, or 16 MPa and 1056%, respectively. Moreover, the WPUR films could be re-healed at the same fracture location over three cutting–healing cycles, and the recovery rates of the tensile strength and elongation at break remained almost constant throughout these cycles.