Biomimetic actuators that can produce soft-actuation but large force generation capability are of interest. NafionTM, an effective ionomeric material from DuPont, has been shown to produce large deformation under low electric fields (<10V/mm). In this effort, multi-walled carbon nanotube (M-CNT)/NafionTM nanocomposites were prepared by casting in order to investigate the effect of M-CNT loading in the range of 0 to 7 wt% on electromechanical properties of the MCNT/ NafionTM nanocomposites. The measured elastic modulus and actuation force of the MCNT/ NafionTM nanocomposites are drastically different, showing larger elastic modulus and improved electromechanical coupling, from the one without M-CNT. In this work, we attempted to incorporate an equivalent circuit analysis to address the effect of capacitance and resistance of such M-CNT/NafionTM nanocomposites that would differ from conventional IPMCs.