“…Under the stimulus of a relatively low electrical field (2–3 V) through the thickness of an IPMC, cationic migration occurs predominantly due to electrophoresis of hydrated cations in the presence of an imposed electric field across the membrane (Annabestani & Naghavi, ). Indeed, when a voltage is applied between the two electrodes, the IPMC actuator is bent by migration of cations from one side of the Nafion membrane towards the other side ( Figure ; Cha et al, ; Annabestani, Maymandi‐Nejad, & Naghavi, ; Annabestani & Naghavi, ). Due to the ion migration in the IPMC actuators, which results in the actuation mechanism, their dynamic characteristics are highly non‐linear (Brufau‐Penella, Sánchez‐Martín, & Puig‐Vidal, ; Brunetto, Fortuna, Giannone, Graziani, & Strazzeri, , ; Cha et al, ; Dong & Tan, ; Ganley, Hung, Zhu, & Tan, ; Kiwon, ; Shahinpoor et al, ).…”