A bioinspired multifunctional self-sensing actuated gradient hydrogel was developed using a wettability-based method involving the precipitation of MoO₂ nanosheets. This hydrogel exhibits ultrafast thermo-responsive actuation (21°s⁻¹), exceptional photothermal efficiency (3.7°Cs⁻¹), and high sensing properties (GF=3.94). The hydrogel was used to construct the first self-sensing remote interaction system based on gradient hydrogel actuators and robotic hands. The hydrogel's gradient network structure, achieved through a wettability difference method, introduces hydrophilic disparities between two sides, enabling ultrafast actuation and enhanced photothermal efficiency. The hydrogel also demonstrates programmable deformability and information display capabilities through local cross-linking of sodium alginate with Ca²⁺. It has high sensitivity (GF=3.94), fast response times (140 ms), and good cycling stability. The hydrogel was integrated into 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. A self-sensing touch bioinspired tongue was realized through the synergistic combination of remarkable actuation and sensitivity. By employing quantitative analysis of actuation-sensing, remote interaction between soft-hard robots via the Internet of Things was achieved. The multifunctional self-sensing actuated gradient hydrogel provides new insights for advanced somatosensory materials, self-feedback intelligent soft robots, and human-machine interactions. The hydrogel was fabricated by in situ copolymerization of NIPAM and SA monomers in a dispersion of MoO₂. The hydrogel's gradient structure was formed due to the difference in wettability caused by the introduction of MoO₂ nanosheets. The hydrogel exhibited ultrafast actuation, with a bending speed of 21°s⁻¹ in 50°C water. It also demonstrated exceptional photothermal efficiency under NIR irradiation (808 nm, 2 W cm⁻²). The hydrogel was used to fabricate a bioinspired artificial iris and a jellyfish-like soft robot. The hydrogel's programmable deformation and information display capabilities were achieved through local cross-linking of Ca²⁺. The hydrogel's sensing performance was evaluated, showing high sensitivity (GF=3.94), fast response times (140 ms), and good stability. The hydrogel was used for human motion and physiological signal detection. A self-sensing bioinspired artificial tongue was prepared, which could bend and touch under NIR stimulation. The hydrogel was also used for remote interaction between soft and hard robots via IoT technology. The hydrogel's resistance and bending angle were quantitatively analyzed, establishing a relationship for remote control. The hydrogel's unique sensing properties and high sensitivity enabled accurate detection of various human signals. The hydrogelA bioinspired multifunctional self-sensing actuated gradient hydrogel was developed using a wettability-based method involving the precipitation of MoO₂ nanosheets. This hydrogel exhibits ultrafast thermo-responsive actuation (21°s⁻¹), exceptional photothermal efficiency (3.7°Cs⁻¹), and high sensing properties (GF=3.94). The hydrogel was used to construct the first self-sensing remote interaction system based on gradient hydrogel actuators and robotic hands. The hydrogel's gradient network structure, achieved through a wettability difference method, introduces hydrophilic disparities between two sides, enabling ultrafast actuation and enhanced photothermal efficiency. The hydrogel also demonstrates programmable deformability and information display capabilities through local cross-linking of sodium alginate with Ca²⁺. It has high sensitivity (GF=3.94), fast response times (140 ms), and good cycling stability. The hydrogel was integrated into 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. A self-sensing touch bioinspired tongue was realized through the synergistic combination of remarkable actuation and sensitivity. By employing quantitative analysis of actuation-sensing, remote interaction between soft-hard robots via the Internet of Things was achieved. The multifunctional self-sensing actuated gradient hydrogel provides new insights for advanced somatosensory materials, self-feedback intelligent soft robots, and human-machine interactions. The hydrogel was fabricated by in situ copolymerization of NIPAM and SA monomers in a dispersion of MoO₂. The hydrogel's gradient structure was formed due to the difference in wettability caused by the introduction of MoO₂ nanosheets. The hydrogel exhibited ultrafast actuation, with a bending speed of 21°s⁻¹ in 50°C water. It also demonstrated exceptional photothermal efficiency under NIR irradiation (808 nm, 2 W cm⁻²). The hydrogel was used to fabricate a bioinspired artificial iris and a jellyfish-like soft robot. The hydrogel's programmable deformation and information display capabilities were achieved through local cross-linking of Ca²⁺. The hydrogel's sensing performance was evaluated, showing high sensitivity (GF=3.94), fast response times (140 ms), and good stability. The hydrogel was used for human motion and physiological signal detection. A self-sensing bioinspired artificial tongue was prepared, which could bend and touch under NIR stimulation. The hydrogel was also used for remote interaction between soft and hard robots via IoT technology. The hydrogel's resistance and bending angle were quantitatively analyzed, establishing a relationship for remote control. The hydrogel's unique sensing properties and high sensitivity enabled accurate detection of various human signals. The hydrogel