In some embodiments, an actuator is provided having a graphite comprising actuation region located between electrodes. An ion storage region is located between the electrodes, with a separator region between the actuation and the storage region. The actuation region may include graphite structures embedded in an elastic matrix, the elastic matrix is adapted to allow transport of chemical species capable of intercalating within the graphite structures. A separator region is located between the electrodes, along with an ion generation region capable of reversible electrochemical production and elimination of ions. In some embodiments, an actuator is provided with at least one of the electrode and the counter electrode including graphite. An electrolyte therebetween having a graphite intercalate ion source.