Engineered skeletal muscle tissue can contract in response to externally applied stimuli, such as electrical fields. Such a movement can actuate bio-hybrid robots, emergent miniaturized machines that exploit the softness, energetic efficiency, adaptive behavior, self-healing, and assembly of living cells to achieve compliant motion. However, current muscle tissue-based bio-actuators provide limited force generation and control autonomy due to our inability to manufacture biomimetic tissue architectures and integrate responsive materials, which would enable long-term survival, upscaling, and motion control of contractile tissue. Here, we report on mesoscale architectures for tissue perfusion and biomaterials for modulation of the dynamic behavior of engineered muscle tissue. Intra-tissue perfusable channels were realized with different techniques (wiring templates, sacrificial inks, and permeable hollow fibers) and designs (e.g., variable orientation to myofiber direction), and tissue survival was tested in response to passive perfusion or active microfluidics. We showed that extrusion-based multimaterial bioprinting enables perfusable microchannel networks that integrate with perfusable synthetic anchors, needed to incorporate the construct into a tissue maturation template. As shown by confocal imaging analysis, \perfusable cm-scaled tissue designs preserve cells from hypoxia all over the construct volume. These bio-hybrid designs also elicit mechanical tissue stimulation via passive tensioning and drug distribution studies in a microvascular unit-mimicking architecture. Furthermore, we developed a biocompatible, soft, fiber-shaped mechanical sensor based on a piezoresistive carbon-black composite that reveals mechanical state changes of the muscle during contraction. Our sensor could integrate with tissue during its formation, and operate in a cell culture environment in the presence of applied electrical fields for muscle stimulation. The sensor displayed a high sensitivity that is required to detect bio-actuators’ typical strains (<1%) and fed an autonomous control system on muscle’s actuation, thus demonstrating the first proprioceptive bio-hybrid robot that can sense and respond to its contraction state. Our work on biomaterials and fabrication strategies for biomimetic tissue designs, tissue-embedded functionalities, and bio-actuation control will inspire research in advanced tissue engineering for biomedical and robotic applications.