This study presents a novel bioinspired multifunctional self-sensing actuated gradient hydrogel, developed using a wettability-based method involving the precipitation of MoO₂ nanosheets. The hydrogel exhibits ultrafast thermo-responsive actuation (21° s⁻¹) and enhanced photothermal efficiency (3.7 °C s⁻¹ under 808 nm near-infrared). It also demonstrates high sensitivity (gauge factor 3.94) within a wide strain range (600%) and fast response times (140 ms). The hydrogel's unique properties are leveraged to create various soft actuators, including a soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics for precise human motion and physiological signal detection. Additionally, the hydrogel is used to realize a self-sensing touch bioinspired tongue and a remote interaction system between soft-hard robots via the Internet of Things (IoT). This work opens new avenues for advanced somatosensory materials, self-feedback intelligent soft robots, and human-machine interactions.This study presents a novel bioinspired multifunctional self-sensing actuated gradient hydrogel, developed using a wettability-based method involving the precipitation of MoO₂ nanosheets. The hydrogel exhibits ultrafast thermo-responsive actuation (21° s⁻¹) and enhanced photothermal efficiency (3.7 °C s⁻¹ under 808 nm near-infrared). It also demonstrates high sensitivity (gauge factor 3.94) within a wide strain range (600%) and fast response times (140 ms). The hydrogel's unique properties are leveraged to create various soft actuators, including a soft gripper, artificial iris, and bioinspired jellyfish, as well as wearable electronics for precise human motion and physiological signal detection. Additionally, the hydrogel is used to realize a self-sensing touch bioinspired tongue and a remote interaction system between soft-hard robots via the Internet of Things (IoT). This work opens new avenues for advanced somatosensory materials, self-feedback intelligent soft robots, and human-machine interactions.