“…Current research effort about sensor-actuator-integrated soft robots mainly focuses on sensing based on e-skins 17 , 18 , 19 , 20 or visual systems 21 , 22 , 23 , 24 , 25 , 26 with applications in surrounding detection (e.g., pH, ion, oil, blow flow, etc. ), 27 , 28 , 29 , 30 , 31 , 32 , 33 , 34 self-body perception (e.g., physical interaction monitoring, self-motion monitoring, etc.…”