Ionic polymer-metal composite (IPMC) is an electroactive material that bends when electrically stimulated. Basically, there are two actuation attributes of IPMC actuator had been investigated which are the actuation force and bending degree. However, characterization on multilayer IPMC actuation had been less studied. Based on the preliminary research, double layer IPMC actuator is performing a non linear actuation. Hence, this research was conducted to characterize the double layer IPMC actuation by adjusting some parameters. They are the thickness of the IPMC layer, voltage supply and current supply. Those parameters had been varied to observe the IPMC actuation. The result of this research shows that as the voltage supply varies, the bending degree of the both IPMC layer become uniform at 4V DC when the thickness is 0.025cm. Besides, by changing the thickness of the IPMC actuator, the bending degree of the IPMC actuator gives a linear trend.