Ionic polymer-metal composites (IPMCs) have been shown to demonstrate high deformations under low voltage bias. The aim of the project here is to develop a new route to the printing of IPMCs which can be integrated into different soft-polymer devices. Using suspensions of Nafion (and related materials) which can be aerosol-jet printed into microscale configurations, as well as metal nanoparticle-based electrical tracks, the scaling of such IPMC bending functionality will be explored. Creating nanocomposites with IPMC-nanoparticle blends will allow tuning the charge transport and swelling which is at the heart driving bending functionalities in soft robotics. Target devices include voltage-switched snake-like reptating inserts capable of navigating themselves into tissues (such as soft cochlea implants). Other devices are voltage-controlled roll-up optical metamaterial devices, as well as low-cost tuneable microcavities capable of acting as pixelated filters on CCD detectors for optimised hyperspectral imaging.