This review article discusses the integration of actuation and sensing in soft robotics to achieve intelligent functionality. Soft robotics, known for its flexibility and adaptability, is well-suited for applications in complex environments such as medicine, rescue, and exploration. However, current research often focuses on isolated actuation and sensing capabilities, neglecting the critical integration of these two domains. The article presents a comprehensive survey of fundamental actuation strategies and multimodal actuation, while also exploring advancements in proprioceptive and haptic sensing and their fusion. It emphasizes the importance of integrating actuation and sensing in soft robotics, presenting three integration methodologies: sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. The review also highlights challenges in the field and suggests future research directions. The article discusses various actuation strategies, including pressure, electrical, external stimulation, and passive deformation, and explores their advantages, limitations, and recent advancements. It also covers different sensing mechanisms, such as piezoresistive and resistive sensors, capacitive sensors, piezoelectric sensors, optical sensors, and tactile sensors, and their integration with actuation for intelligent soft robotics. The review concludes that integrating actuation and sensing is crucial for the development of truly intelligent soft robots.This review article discusses the integration of actuation and sensing in soft robotics to achieve intelligent functionality. Soft robotics, known for its flexibility and adaptability, is well-suited for applications in complex environments such as medicine, rescue, and exploration. However, current research often focuses on isolated actuation and sensing capabilities, neglecting the critical integration of these two domains. The article presents a comprehensive survey of fundamental actuation strategies and multimodal actuation, while also exploring advancements in proprioceptive and haptic sensing and their fusion. It emphasizes the importance of integrating actuation and sensing in soft robotics, presenting three integration methodologies: sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. The review also highlights challenges in the field and suggests future research directions. The article discusses various actuation strategies, including pressure, electrical, external stimulation, and passive deformation, and explores their advantages, limitations, and recent advancements. It also covers different sensing mechanisms, such as piezoresistive and resistive sensors, capacitive sensors, piezoelectric sensors, optical sensors, and tactile sensors, and their integration with actuation for intelligent soft robotics. The review concludes that integrating actuation and sensing is crucial for the development of truly intelligent soft robots.