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Soft robotics is attractive for new human\u2010close applications, but soft actuators constitute a major challenge both in terms of actuation force and speed, and in terms of control and accuracy of the deformable soft actuator body. Herein, several of these challenges are addressed by developing versatile ultrasoft electromagnetic actuators that operate in absence of external magnetic fields, while simultaneously monitoring their states by internal strain sensors. The versatile actuators can compress to less than 50% of their initial length with strain\u2010independent contraction force and operate in both contraction and expansion modes up to 200\u2009Hz frequency while conforming to curved surfaces. The soft multilayer conductive cellulose\u2010based foams are lightweight (3\u2009mg\u2009cm<jats:sup>\u22123<\/jats:sup>) and provide internal strain\u2010sensing capability and structural support, thereby improving the monitoring and controllability of the actuators while maintaining an axial softness of 0.6\u2009kPa. 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