A new structure of Entirely-integrated Spatial-bending Shape Memory Alloy Actuators (ESSMAA) is first presented. Three SMA wires, which are trained to remember "U" recovery shape, are embedded in liquid silicone rubber to be solidified upon room temperature, companied with displacement sensors and connective wires. The Spatial bending, which is accomplished through heating SMA wires by suitable current, can restore flexibly as soon as stopping heating. Thus, the compact, two-way, mechanical and electrical incorporation actuator is completed. Be provided with the merits such as high load-weight ratio, low energy dissipation and direct driving, the actuators can realize miniature configuration, simple drive and control, precise operation and flexible movement pose synthetically. On the basis of expounding the operation principle in detail, the curvature sensor, which is composed of six stain gauges, makes displacement control precise. After analyzing equilibrium of forces and moments, the numeric calculation equations are deduced. Subsequently, the approximate arithmetic making use of superpose principle is researched in contrast with numeric arithmetic. The manufacture of the prototype is discussed in details and the precise displacement control is implemented also. Finally, the experiments of the actuator proof fine qualities of the operation performances.