Dielectric elastomer actuators (DEAs) are widely used in soft robotics because of their high energy density and intrinsic electromechanical coupling. Dielectric elastomer switches (DES) can complement DEAs by providing strain-dependent resistance modulation for simple logic and oscillatory circuits, but most reported DES rely on rigid supporting frames, which hinders their integration into fully soft systems. Here, we present a soft, frame-integrated architecture that unifies DEA actuation and strain-responsive switching. Inspired by inchworm locomotion, the DEA geometry was redesigned to enhance in-plane expansion and horizontal force output. A dual-layer PMMA frame guides membrane deformation and improves force efficiency compared with earlier configurations. Thin-film composite resistors were patterned and mechanically coupled to the deforming membrane; embedding them into frame openings enables reversible, synchronized switching during actuation. This approach provides a scalable pathway toward soft robotic systems with embedded actuation and on-body electrical readout for autonomous operation.