This paper presents the preliminary development of a modular, intelligent soft robotic pad (IntelliPad) for pressure injury prevention. IntelliPad is constructed of multiple individual dome-shaped actuators (domes), which are fabricated from soft silicone rubber and driven by pressurized air and vacuum. We present the mechanical characterization and control of the modular domes. The individual soft domes can achieve both vertical and horizontal motions that are controlled independently. Each individual dome measures the contact interaction forces at the top of the dome using force-sensitive resistor (FSR). In the evaluation study, a small-scale version of the IntelliPad system was tested for its ability to redistribute the applied normal load and shear loads. The simplified mechanical testing experiments simulating skin-pad loading conditions over three adjacent domes demonstrate the system capabilities to redistribute the applied loads. Results demonstrate the applicability of using the IntelliPad system for pressure injury prevention applications.