<p>The driving performance of current biomimetic artificial muscles has not yet met the requirements for engineering applications, limiting their practical prospects. This paper presents a test scheme for the driving characteristics of biomimetic artificial muscles, with chitosan and graphene as the main materials. Key evaluation indicators are proposed, including output force, output displacement, and response speed. The study focuses on analyzing the effects of multi-walled carbon nanotubes (MCNT) and Genipin on the driving characteristics of the artificial muscles. MCNT crosslinked with graphene enhances the conductivity of the electrode layer, while Genipin crosslinked with chitosan improves the structural stability and flexibility of the driving layer. The combined addition of MCNT and Genipin significantly enhances the driving performance of the artificial muscles, especially in terms of output displacement, output force, and response speed. The experiment summarizes the optimal additive ratio, providing important guidance and experimental support for further optimization of the design and performance of biomimetic artificial muscles.</p>