Carbon　nanotube　fibers　(CNTFs)　have　many　desirable　properties　such　as　lightweight,　high　strength,　high　conductivity,　and　long　lifetimes.　Coiled　CNTF　is　an　ideal　material　for　preparing　electrochemically　driven　artificial　muscles.　While　previous　studies　focused　mainly　on　the　actuation　performance　of　artificial　muscles　made　of　CNTF,　this　study　focuses　on　an　actuator　that　mimics　human　finger　movements　(flexion).　More　specifically,　the　preparation　of　CNTF　muscles　were　optimized　by　twisting　with　weight.　Then,　actuators　are　designed　and　assembled　by　combining　all-solid-state　CNTF　muscles　with　polypropylene　(PP)　sheets.　Moreover,　a　dual-electrode　system,　which　is　infiltrated　by　a　gel　electrolyte,　is　built　into　the　muscle　actuator.　In　addition,　a　robotic　gripper　is　fabricated,　which　uses　these　actuators.　This　study　can　help　improve　the　design　of　CNTF-based　muscle-actuators　and　future　applications　in　robotics.　©　2022　The　Author(s).　Published　by　Informa　UK　Limited,　trading　as　Taylor　&　Francis　Group.