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The electrochemical and electromechanical properties of actuators developed using a non-activated multi-walled carbon nanotube (MWCNT)–ionic liquid (IL) gel electrode containing ruthenium oxide (RuO 2 ) were compared with only-MWCNT and only-single-walled carbon nanotube (SWCNT) based actuators. The double-layer capacitance of the non-activated MWCNT electrode containing RuO 2 was larger than that of the only-MWCNT electrode. The non-activated MWCNT polymer actuator containing RuO 2 surpassed the performance of the only-MWCNT and only-SWCNT actuators in terms of the strain and maximum generated stress. Both MWCNTs and RuO 2 were required to produce large strain and quick response actuators that surpassed the performance of the only-SWCNT polymer actuator and exhibited characteristics sufficient for practical applications (e.g. tactile display).