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To overcome these issues, herein a sensorized foam actuator (SFA) with a foam core that acts as both an actuator and a proprioception\u2010sensing element is developed. The integrated modules can sense direct actuation and passive deformation due to extrinsic stresses through a specific pore shape evolution, which leads to a distinct variation in the resistivity pattern. In addition, a fiber\u2010reinforced skin encapsulating the SFA facilitates a fast and efficient response. The SFA is able to lift more than 500 times its own weight with a load\u2010withstanding capacity of 235\u2009N, linear contraction up to 70% strain, and a recovery speed of 13.3\u2009mm\u2009s<jats:sup>\u22121<\/jats:sup>. In addition, the SFA is lightweight (34\u2009g), has low hysteresis (&lt;4%), and can self\u2010sense its current deformation state. As proof of concept, various soft robotic applications are presented such as compression piston\u2010like motion, modular inchworm\u2010like crawling locomotion, and a robotic trunk\u2010like manipulation.<\/jats:p><\/jats:sec>","DOI":"10.1002\/aisy.202100022","type":"journal-article","created":{"date-parts":[[2021,5,19]],"date-time":"2021-05-19T02:52:00Z","timestamp":1621392720000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Sensorized Foam Actuator with Intrinsic Proprioception and Tunable Stiffness Behavior for Soft Robots"],"prefix":"10.1002","volume":"3","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-2024-9391","authenticated-orcid":false,"given":"Saravana Prashanth","family":"Murali Babu","sequence":"first","affiliation":[{"name":"The BioRobotics Institute Scuola Superiore Sant\u2019Anna  Viale Rinaldo Piaggio 34 Pisa 56025 Italy"},{"name":"Center for Micro-BioRobotics \u2013 Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia  Viale Rinaldo Piaggio 34 Pontedera 56025 Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0879-7283","authenticated-orcid":false,"given":"Francesco","family":"Visentin","sequence":"additional","affiliation":[{"name":"Center for Micro-BioRobotics \u2013 Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia  Viale Rinaldo Piaggio 34 Pontedera 56025 Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2987-9541","authenticated-orcid":false,"given":"Ali","family":"Sadeghi","sequence":"additional","affiliation":[{"name":"Center for Micro-BioRobotics \u2013 Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia  Viale Rinaldo Piaggio 34 Pontedera 56025 Italy"},{"name":"Faculty of Engineering Technology University of Twente  Horst \u2013 Ring 217 Enschede 7500 AE The Netherlands"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2303-2844","authenticated-orcid":false,"given":"Alessio","family":"Mondini","sequence":"additional","affiliation":[{"name":"Center for Micro-BioRobotics \u2013 Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia  Viale Rinaldo Piaggio 34 Pontedera 56025 Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1331-0265","authenticated-orcid":false,"given":"Fabian","family":"Meder","sequence":"additional","affiliation":[{"name":"Center for Micro-BioRobotics \u2013 Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia  Viale Rinaldo Piaggio 34 Pontedera 56025 Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0722-8350","authenticated-orcid":false,"given":"Barbara","family":"Mazzolai","sequence":"additional","affiliation":[{"name":"Center for Micro-BioRobotics \u2013 Bioinspired Soft Robotics Laboratory Istituto Italiano di Tecnologia  Viale Rinaldo Piaggio 34 Pontedera 56025 Italy"}]}],"member":"311","published-online":{"date-parts":[[2021,5,18]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1145\/2366316.2366335"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1126\/science.1145803"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1126\/scirobotics.aba6893"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1038\/nature14543"},{"key":"e_1_2_10_6_1","doi-asserted-by":"publisher","DOI":"10.1089\/soro.2013.0002"},{"key":"e_1_2_10_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/MRA.2016.2588018"},{"key":"e_1_2_10_8_1","unstructured":"S. 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