Biomimetic Self‐Sensing Hydrogel Soft Robotics: Precise Structures for Integrated Actuation and Sensing

ABSTRACT Organisms rely on seamlessly integrated sensing and action feedback loops to dynamically adjust their behavior for adaptation, learning, and survival. Biomimetic self‐sensing hydrogel soft robots are an emerging class of intelligent systems that integrate actuation and sensing functions within a single compliant structure. They are characterized by tissue‐like softness, high adaptability, and the ability to monitor deformation and environmental interactions in real time. Such intelligent systems have great potentials in soft robotics, biomedical devices, and human–machine interaction. This review comprehensively summarizes recent advances in biomimetic self‐sensing hydrogel soft robots. It covers biomimetic microstructured hydrogel actuators responsive to diverse external stimuli, as well as biomimetic microstructured hydrogel sensors for detecting pressure, strain, and multidimensional signals. Endowing hydrogel sensors with stimulus‐responsive actuation or imparting hydrogel actuators with sensing capabilities allows for the integration of both sensing and actuation functions into a single hydrogel device, thereby resulting in a self‐sensing hydrogel actuator. The biomimetic self‐sensing with microstructured hydrogel actuators driven by thermal, optical, magnetic, and tactile stimuli is described in detail. Some in‐depth analysis of current challenges and future perspectives is provided at the end of the review. This review offers valuable insights into the development of autonomous, intelligent soft robotic systems.