Undoubtedly, it is an urgent need to develop high-performance artificial muscles in robotics.Artificial muscles generally include different types of rigid and soft artificial muscles. Traditional rigid muscles usually come in two types, that is, cable-type and connecting rod-type. [10] Rigid robots based on rigid muscles are given diversified automated manufacturing assignments in the industrial and agricultural fields, having made considerable contributions to the advancement of these fields. [2,11] However, rigid muscles have poor environmental flexibility, limited degrees of freedom, and complex control due to their rigid and bulky structure. [12][13][14] Hence, soft artificial muscles with flexible shape morphing, high maneuverability, strong environmental adaptability, and low manufacturing cost have emerged. [7,15] Soft robots with soft artificial muscles as their key components have exhibited enormous application possibilities, for example, drug delivery tools, [16,17] flexible grippers, [18,19] and means of soft human-machine interaction (HMI). [20,21] Although great progress has been made on soft artificial muscles, there are still many deficiencies due to their poor bearing capacity, shock vulnerability, and difficulty in precise control. [22][23][24] Moreover, it is worth noting that both rigid and soft muscles usually lack sensing feedback, [25][26][27][28] which limits the working efficiency and reliability of robots, especially those of mobile robots and manipulation robots. Additional sensing elements increase the complexity of the entire system, sacrificing the respective functions or responsiveness and increasing the manufacturing. [29][30][31] Thus, artificial muscles cannot adequately fulfill practical engineering requirements. Consequently, developing an artificial muscle with large shape morphing, high bearing capacity, and deformation perception properties is a tremendous challenge.Actuation, load-bearing, and sensory systems are ingeniously coordinated in animals. [1] For example, human arms include muscles, bones, and sensory nerves (i.e., muscle-bone-nerve system), which combine the functions of large shape morphing, high bearing capacity, and deformation sensing monitor. [32,33] In detail, actuation units are composed of muscles that facilitate manipulation and locomotion combined with the bones. As a result, the actuation of human arms is characterized by a large range of motion and high flexibility. The