This book presents the development of four multifunctional nanomaterials: two electrolyte membranes with high ionic conductivity and robust mechanical strength and two electrode materials with excellent electrical conductivity and high capacitance. The integration of these materials has led to a substantial improvement in the performance of ionic actuators, enabling their application in four demonstrative models: soft fingers, inchworms, dynamic tensegrity structures, and dragonflies. Therefore, this multidisciplinary book is highly relevant to a wide range of scientific fields, including materials science, ionic actuators, soft robotics, bioinspiration, and biomimetics, as well as energy storage systems such as batteries, capacitors, and fuel cells.