An actuating device and a method for manufacturing an actuating device, where the method includes wrapping a conductive wire (204) around a polymer fiber (202) at a set tension, and heating the polymer fiber and wire to a temperature that exceeds the glass transition temperature of the polymer fiber for a predetermined amount of time to partially embed the conductive wire into the polymer fiber. The method also includes cooling the polymer fiber and wire to below the glass transition temperature resulting in a wired polymer fiber wherein at least part of the conductive wire is embedded in the polymer fiber.