Self-sensing two-degree-of-freedom soft actuator integrated with hydrogel sensor

The invention provides a self-sensing two-degree-of-freedom soft actuator integrated with a hydrogel sensor to solve the problems that an existing soft robotic arm is poor in control accuracy and prone to deformation and deviation. The self-sensing two-degree-of-freedom soft actuator integrated with the hydrogel sensor comprises a soft body actuator body used as a soft machine arm, wherein the soft body actuator body is composed of an inner core and an outer layer; spiral fibers used for limiting radial expansion of the soft body actuator body are arranged between the inner core and the outer layer; a self-sensor assembly located on the outer side of the fibers is arranged between the inner core and the outer layer; two vertically-through cavities are formed in the inner core; a connecting base coaxial with the outer layer is arranged at the upper end of the outer layer; a supporting assembly capable of being connected onto the connecting base in a clamped mode is arranged above the soft body actuator body; t