Tensegrity structures are self-stressed frameworks composed of elements in compression and elements in tension. Their stability is attributed to a state of self-equilibrium in the system. Tensegrity structures are thus statically indeterminate. Many tensegrity systems are also kinematically indeterminate including motions other than the rigid-body motions that can occur without changes in their element lengths (infinitesimal mechanisms). Since not change in element lengths are required, infinitesimal mechanisms have been identified as advantageous control paths. Although tensegrity systems have been proposed for active applications in science and engineering, existing form-finding and design methods do not address or provide any insight regarding sensor and actuator placement in tensegrity structures. In this paper, self-stress and infinitesimal mechanisms are investigated through cellular morphogenesis to identify appropriate sensor and actuator placement strategies.