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However, the fabrication techniques often involve multistage processes; they lack soft sensing capabilities and are sensitive to cutting and damage. This work introduces a new textile\u2010based pouch motors with the capacity for biaxial actuation and capacitive sensory functions, achieved through the application of computerized knitting technology using ultrahigh molecular weight polyethylene yarn (Spectra) and conductive silver yarns. This method enables the rapid and scalable mass fabrication of robust pouch motors. The resulting pouch motors exhibit maximum lifting capacity of 10\u2009kg, maximum contraction of 53.3% along the <jats:italic>y<\/jats:italic>\u2010axis, and transverse extension of 41.18% along the <jats:italic>x<\/jats:italic>\u2010axis at 50\u2009kPa pressure. Finite element analysis closely matches the experimental data. The capacitance signals in relation to contraction motion are well suited for detecting air pressure levels and hold promise for applications requiring robotic control. Notably, it effectively elevates an ankle joint simulator at a 20\u00b0 angle, highlighting its potential for applications such assisting individuals with foot drop. 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