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However, incorporating sensors into McKibben artificial muscles makes the system configuration more complicated and reduces the actuator's contraction rate. Furthermore, complex processing and circuitry are required, which limits applications. This study introduces a thin McKibben artificial muscle with an embedded resistive stretchable textile sensor (TES\u2010MAM), which does not require specialized measuring instruments. TES\u2010MAM measures displacement without additional sensing components outside the thin McKibben artificial muscle by incorporating a stretchable textile sensor inside the McKibben artificial muscle. The textile sensor exhibits excellent stretchability and does not degrade the contraction ratio. By fully embedding the textile sensor within the McKibben artificial muscle, which has an outer diameter of 4.5\u2009mm, the structure of McKibben artificial muscle remains compact. TES\u2010MAM provides a clear and stable resistance response during repeated pressurization and release cycles under various displacement inputs. 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