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However, existing sensing strategies predominantly emphasize the detection of biophysical or biochemical signals or magnetic field measurements, providing limited insight into robots\u2019 internal mechanical behaviors and their interactions with surrounding environments. This gap hinders the realization of high-precision manipulation of robotic systems. Here, we present an integrated magnetic soft robotic platform that integrates two flexible sensors, including a tension sensor and a pressure sensor, directly within a magnetic composite. By coupling embodied sensing with magnetic actuation, the robotic platform achieves feedback-driven, closed-loop manipulation. This approach provides a versatile strategy for achieving precise manipulation with promising applications in biomedical engineering and industrial robotics.<\/jats:p>","DOI":"10.1021\/acs.nanolett.6c02409","type":"journal-article","created":{"date-parts":[[2026,9,26]],"date-time":"2026-09-26T15:02:18Z","timestamp":1790434938000},"page":"14103-14113","source":"Crossref","is-referenced-by-count":0,"title":["Embodied Sensing\nfor Closed-Loop Manipulation in an\nIntegrated Magnetic Soft Robot"],"prefix":"10.1021","volume":"26","author":[{"given":"Zhiyong","family":"Chen","sequence":"first","affiliation":[{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]},{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]},{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. 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China, 518055"]},{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]},{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ling","family":"Yang","sequence":"additional","affiliation":[{"name":"The University of Hong Kong , , ,","place":["Hong Kong SAR, P. R. China, 999077"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Huakun","family":"Huang","sequence":"additional","affiliation":[{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]},{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7004-8494","authenticated-orcid":true,"given":"Xin","family":"Tang","sequence":"additional","affiliation":[{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8286-9994","authenticated-orcid":true,"given":"Wei","family":"Li","sequence":"additional","affiliation":[{"name":"The University of Hong Kong , , ,","place":["Hong Kong SAR, P. R. China, 999077"]},{"name":"Shanghai Jiao Tong University , , ,","place":["Shanghai, P. R. China, 200240"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Liqiu","family":"Wang","sequence":"additional","affiliation":[{"name":"The University of Hong Kong , , ,","place":["Hong Kong SAR, P. R. China, 999077"]},{"name":"The Hong Kong Polytechnic University , , ,","place":["Hong Kong SAR, P. R. China, 999077"]},{"name":"The Hong Kong Polytechnic University , , ,","place":["Hong Kong SAR, P. R. China, 999077"]}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-2073-7512","authenticated-orcid":true,"given":"Peng","family":"Yu","sequence":"additional","affiliation":[{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]},{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. China, 518055"]},{"name":"Southern University of Science and Technology , , ,","place":["Shenzhen, P. R. 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Sci."},{"key":"2026102109265298100_cit23","doi-asserted-by":"publisher","first-page":"103320","DOI":"10.1016\/j.addma.2022.103320","article-title":"A magnetic soft robot\nwith multimodal sensing capability by multimaterial\ndirect ink writing","volume":"61","author":"Wang","year":"2023","journal-title":"Addit. Manuf."},{"key":"2026102109265298100_cit24","doi-asserted-by":"publisher","first-page":"4428","DOI":"10.1038\/s41467-023-40109-z","article-title":"Coaxially printed magnetic\nmechanical electrical hybrid structures\nwith actuation and sensing functionalities","volume":"14","author":"Zhang","year":"2023","journal-title":"Nat. Commun."},{"key":"2026102109265298100_cit25","doi-asserted-by":"publisher","first-page":"10489","DOI":"10.1038\/s41467-025-65459-8","article-title":"Soft magnetic microrobots\nwith remote sensing and communication capabilities","volume":"16","author":"Gao","year":"2025","journal-title":"Nat. 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