Compliant actuators are essential components in the development of soft robotics. Among the various types, ionic actuators stand out due to their promising properties, including large deformations at low operating voltages (under 5 V), low power consumption, and ease of control through the adjustment of voltage amplitude and frequency [1–8]. However, the current performance of ionic actuators remains inadequate for most soft robotics applications. Therefore, enhancing their performance is a vital step toward their practical implementation.