This study aims at the development of an intelligent McKibben actuator, in which a soft rubber displacement sensor is integrated. Recently, the McKibben actuator has attracted engineers because of light weight, high output power and high compliance. But in the case of using it for servo control at present, the systems need encoders or potentiometers, therefore the systems tend to grow in size and take away from compliance which is an important advantage for a safe and secure mechanism. We have developed a soft displacement sensor and incorporated it in a McKibben actuator, named it the intelligent McKibben actuator, and proved its potential.