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Figure 12. Hydrogel actuators with synergistic conductive sensing and deformation capabilities. (A) The conductive hydrogel actuator based on graphene; (B) Sensing signal monitoring of conductive hydrogel actuator under cyclic light stimulation. Reproduced with permission^[173]. Copyright 2022, Springer Nature; (C) The bilayer conductive hydrogel actuator based on PANI; (D) Real-time resistance change detection during deformation of hydrogel actuator. Reproduced with permission^[174]. Copyright 2023, Elsevier; (E) The self-sensing hydrogel actuator with sponge-like semi-interpenetrating dual network based on PANI; (F) Real-time electrical signal and typical optical images (insets) of the self-adaptive SL-s-IPN actuator under different interfering factors. Reproduced with permission^[45]. Copyright 2023, Elsevier. PANI: Polyaniline; SL-s-IPN: spongy-structured PANI and PNIPAM semi-interpenetrating networks.