Different from the motor-driven and mechanical transmission mode of rigid material, ionic polymer-metal composite (IPMC) can function both actuation and sensing with in situ driving mode on the source of electrical, chemical and mechanical energy. According to the problems such as insufficient driving force and unstable performance of the situ driving mode, the driving mechanisms of IPMC are reviewed in this paper, through in-depth analysis of the nature of performance improvement. Besides, the technological characteristics of pore-forming process of Nafion membrane are introduced, such as super saturated gas method, particulate leaching method, freeze-drying process and other physicochemical method. The features of the porous structure formed by each process and the advantages and drawbacks of which are also analysed. In addition, this paper analyses the influence of the pore forming methods on performance of IPMC and points out some key problems that need to be solved in future research on pore microstructure of IPMC. It could be expected to provide the realizing way to intrinsically improve actuation performance of IPMC and reconcile driving force and deformation.