Conducting polymers are very promising materials for the development of soft actuators (also called soft motors or ‘artificial muscles’, as they mimic processes and materials of natural muscles) for many different applications. They are multifunctional materials changing different properties such as volume, electrical potential or stored charge at the same time driven by the same reversible electrochemical reaction. Here we explore the simultaneous change on the three properties mentioned above to develop actuators that, while moving, are able to sense mechanical conditions (such as any lifted mass) and store charge. It is possible then to recover up to 83% of the consumed charge during de-bending and increase the energetic efficiency of the actuator by several orders of magnitude. Three tools (actuator-sensor-battery) work simultaneously in a trilayer driven by oxidation/reduction reactions of the constitutive polypyrrole films. Only two connecting wires contain, simultaneously, actuating, sensing and battery magnitudes.