This review article explores the integration of actuation and sensing in soft robotics, emphasizing the importance of this integration for achieving intelligent functionality. Soft robotics, known for its flexibility and adaptability, is well-suited for complex environments such as medicine, rescue operations, and exploration. The article discusses various actuation strategies, including pressure-driven, electrically driven, external stimulation, and passive deformation, along with advancements in proprioceptive and haptic sensing. It highlights three integration methodologies: sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. The review also addresses challenges and suggests future research directions, aiming to stimulate further development in the field of intelligent soft robotics. The article is structured into sections on actuation strategies, sensing mechanisms, and integrated actuation and sensing, providing a comprehensive overview of the current state and potential future directions in this emerging field.This review article explores the integration of actuation and sensing in soft robotics, emphasizing the importance of this integration for achieving intelligent functionality. Soft robotics, known for its flexibility and adaptability, is well-suited for complex environments such as medicine, rescue operations, and exploration. The article discusses various actuation strategies, including pressure-driven, electrically driven, external stimulation, and passive deformation, along with advancements in proprioceptive and haptic sensing. It highlights three integration methodologies: sensor surface integration, sensor internal integration, and closed-loop system integration based on sensor feedback. The review also addresses challenges and suggests future research directions, aiming to stimulate further development in the field of intelligent soft robotics. The article is structured into sections on actuation strategies, sensing mechanisms, and integrated actuation and sensing, providing a comprehensive overview of the current state and potential future directions in this emerging field.