Artificial muscle is a new type of biomimetic actuator particularly promising for naturally compliant mechatronic and robotic systems. Due to their highly non-linear character, their accurate closed-loop positioning control is a true challenge. We report the design and the control of a wire-cable driven artificial muscle actuator inspired by the elbow natural musculature. We propose an original linear control approach deriving benefit from natural stiffness and damping of any artificial muscle. We show how a single I-linear controller can be a practical simple way for an accurate and robust closed-loop positioning control. Experimental results have been performed by using handmade pneumatic McKibben artificial muscles.