This chapter presents a design strategy for soft robots inspired by the cohesive integration of skeletal muscles and sensory skins in vertebrate animals. These robots, primarily consisting of an electronic skin (e-skin) and an artificial muscle, integrate multifunctional sensing and on-demand actuation into a biocompatible platform using an in-situ solution-based method. The biomimetic designs enable adaptive motions and stress-free contact with tissues, supported by a battery-free wireless module for untethered operation. Demonstrations include a robotic cuff for detecting blood pressure, a robotic gripper for tracking bladder volume, an ingestible robot for pH sensing and drug delivery, and a robotic patch for quantifying cardiac function and delivering electrotherapy. The designs establish a universal strategy with a broad range of sensing and responsive materials, forming integrated soft robots for medical technology and beyond. The soft robots consist of two integrated layers: the e-skin, made of functional nanocomposites, and the artificial muscle, based on poly(N-isopropylacrylamide) (PNIPAM) hydrogel. The bilayer design orchestrates robotic motion through environmental stimuli, enabling versatile actuation capabilities. The in situ solution-based fabrication method ensures precise integration of multiple sensing materials, enhancing the device's sensitivity and responsiveness. The soft robots can move, sense, and communicate wirelessly, facilitating minimally invasive operations with safe and stable access to enclosed spaces inside the human body. The chapter also discusses the wireless sensing and actuation capabilities, demonstrating the potential for safe, real-time monitoring and treatment in various medical procedures.This chapter presents a design strategy for soft robots inspired by the cohesive integration of skeletal muscles and sensory skins in vertebrate animals. These robots, primarily consisting of an electronic skin (e-skin) and an artificial muscle, integrate multifunctional sensing and on-demand actuation into a biocompatible platform using an in-situ solution-based method. The biomimetic designs enable adaptive motions and stress-free contact with tissues, supported by a battery-free wireless module for untethered operation. Demonstrations include a robotic cuff for detecting blood pressure, a robotic gripper for tracking bladder volume, an ingestible robot for pH sensing and drug delivery, and a robotic patch for quantifying cardiac function and delivering electrotherapy. The designs establish a universal strategy with a broad range of sensing and responsive materials, forming integrated soft robots for medical technology and beyond. The soft robots consist of two integrated layers: the e-skin, made of functional nanocomposites, and the artificial muscle, based on poly(N-isopropylacrylamide) (PNIPAM) hydrogel. The bilayer design orchestrates robotic motion through environmental stimuli, enabling versatile actuation capabilities. The in situ solution-based fabrication method ensures precise integration of multiple sensing materials, enhancing the device's sensitivity and responsiveness. The soft robots can move, sense, and communicate wirelessly, facilitating minimally invasive operations with safe and stable access to enclosed spaces inside the human body. The chapter also discusses the wireless sensing and actuation capabilities, demonstrating the potential for safe, real-time monitoring and treatment in various medical procedures.