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A method for making an actuator capable of dry actuation is provided. The method includes providing a first nanoscale fiber film, providing a second nanoscale fiber film, positioning a solid polymer electrolyte at least partially between and adjacent to the first nanoscale fiber film and the second nanoscale fiber film, and then affixing the solid polymer electrolyte to the first nanoscale fiber film and the second nanoscale fiber film. The nanoscale fiber films may be buckypapers, made of carbon nanotubes. The actuator is capable of dry actuation.