Soft robot with self-sensing function

The invention discloses a soft robot with a self-sensing function. The soft robot comprises a deformable soft structure, a digital display resistance meter, a controller, a driver and a motor. The soft structure comprises an upper section structure and a lower section structure; wherein the upper section structure and the lower section structure are connected together through the middle transition structure, hydrogel sensors are embedded in the upper section structure and the lower section structure, and fishing lines used for controlling the flexible bending of the soft body structure are arranged in the upper section structure and the lower section structure in a penetrating mode; the hydrogel sensor is connected with the digital display resistance meter, the digital display resistance meter is used for the A/D module, the A/D module is used for converting a resistance value of the hydrogel sensor into a digital value which can be transmitted to the controller through an RS485 protocol, the controller is co