Simultaneous actuation and sensing properties of a triple layer actuator interchanging cations are presented for the first time. Thick polypyrrole (pPy)/dodecylbenzenesulfonate (DBS) films (36 μm) were electrogenerated on stainless steel electrodes. Sensing characteristics of pPy-DBS/tape/pPy-DBS triple layer artificial muscle were studied as a function of electrolyte concentration, temperature and driving current using lithium perchlorate (LiClO₄) aqueous solution as electrolyte. The chronopotentiometric responses were studied by applying consecutive square waves of currents to produce angular movements of ±45° by the free end of the triple layer. The evolution of the muscle potential (anode film versus cathode film) during current flow is a function of the studied chemical and physical variables. The electrical energy consumed to describe a constant angle is a linear function of the working temperature or of the driving electrical current, and a double logarithmic function of the electrolyte concentration. Those are the sensing functions. The cation exchanging bending triple layer actuator senses the working conditions. Similar sensing functions were described in the literature for devices interchanging anions. Irrespective of the reaction mechanism, a single electrochemo–mechanical device comprised of two reactive polymer electrodes (oxidation film and reduction film) works simultaneously as both sensor and actuator (self-sensing actuators). These are the general sensing properties of dense and biomimetic reactive gels of conducting polymers. Thus, any reactive device based on the same type of materials and reactions (batteries, smart windows, actuators, electron–ion transducers) is expected to sense surrounding conditions, as biological organs do.