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Herein, bioinspired inchworm\u2010 and earthworm\u2010like soft structures with intrinsic strain sensing achieved by seamless embedding of a graphite\u2010paste\u2010based sensor material are presented. The developed strain sensor exhibits a record stretchability (900%) and sensitivity (of 10<jats:sup>3<\/jats:sup> up to \u2248200 and of the order of 10<jats:sup>5<\/jats:sup> at around 700% linear strain). With tiny permanent magnets incorporated at the ends of these soft structures, the sensory\u2010feedback\u2010based controlled movements of magnetically driven inchworm\u2010 and earthworm\u2010like soft robots are also demonstrated. 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