A quasi-static bend sensor is taught that comprises a layering of a plurality of ionic polymer metal composite (IPMC) sections with intervening dielectric sections in a vertical stack configuration. The IPMC sections are electrically connected in parallel. The surface of the stack is coated with high-purity synthetic isoparaffins for polymer hydration to increase step response consistency. Finally, the vertical stack configuration is electrically connected to an electric field measurement device and a linear quadratic regulator based controller for reducing settling time.