As wearable health devices have the ability of intelligent monitoring, they are becoming cutting-edge technology in medical and health fields. However, the simplification of functions limits their further development. In addition, soft robotics with actuation functions can achieve therapeutic effects by doing external work, but their monitoring function is not sufficiently developed. The efficient integration of the two can guide future development. The functional integration of actuation and sensing can not only monitor the human body and surrounding environment but also realize actuation and assistance. Recent evidence shows that emerging wearable soft robotics can become the future of personalized medical treatment. In this Perspective, the comprehensive development in the field of actuators for simple structure soft robotics and the field of wearable application sensors are introduced, as well as their manufacturing processes and various potential medical applications. Furthermore, the challenges faced in this field are discussed, and future development directions are proposed.