A synthetic muscle comprises an outer layer having an interior filled with a proton containing electrolyte. A first electrode extends into the interior, and a second electrode extends through the interior. The second electrode is attached to the outer layer at two locations. An ion selective microporous membrane extends through the interior along the length of the second electrode and is also attached to the out layer at the two locations. The ion selective membrane is also attached to the second electrode at a plurality of points along its length, defining a plurality of pockets of the ion selective membrane. The ion elective membrane is generally disposed between the two electrodes. The two electrodes are in communication through a power source. Using the power source, an electroosmotic flow is established across the ion exchange membrane from the first electrode to the second electrode, inflating the pockets and constricting the outer layer.