An integrated self-monitoring soft actuator according to the disclosed present invention comprises: a body part driven by deformation caused by stimulation; a first restricting part which is arranged integrally with the body part in the longitudinal direction thereof and restricts deformation in the longitudinal direction of the body part; at least a pair of electrodes integrally and spirally provided on the outer surface of the body part; a second restricting part for restricting deformation in a diametrical direction of the body part; and a controller for controlling a motion of the body part, wherein the controller self-detects a change of an interval between the at least a pair of electrodes according to the deformation of the body part to self-monitor the deformation of the body part. According to the configuration, the deformation of the body part can be self-detected in real time by using the second restricting part arranged integrally with the body part, thereby improving control efficiency.
