This study presents a novel rolled self-sensing artificial muscle that integrates shape memory alloy actuators and interdigitated capacitive sensors within a monolithic polydimethylsiloxane matrix. An innovative 3D printing-based fabrication process is introduced for the co-design of actuator and sensor, allowing for the measurement of deformation during actuation. Experimental tests demonstrate the high signal stability and repeatability of the sensors, with gauge factor up to 0.76 and hysteres