Soft robotic systems often present bio-mimicking designs that resemble actuation mechanisms of certain biological organisms. However, some unique properties from living organisms are specially challenging to obtain in their artificial counterparts, e.g., self-healing, adaptability, or bio-sensing capabilities. Among these capabilities, the high level of adaptability, activity and autonomy that such biomaterials present, following the three principles of animacy, is notable. Ideally, these three aspects should be accounted for when designing bio-hybrid robots, regardless of their size or further application.