Compact sensing methods are desirable for ionic polymer-metal composite (IPMC) actuators in microrobotic and biomedical applications. In this paper a novel sensing scheme for IPMC actuators is proposed by integrating an IPMC with a PVDF (polyvinylidene fluoride) thin film. The problem of feedthrough coupling from the actuation signal to the sensing signal, arising from the proximity of IPMC and PVDF, presents a significant challenge in real-time implementation. To reduce the coupling while minimizing the stiffening effect, the thickness of the insulating layer is properly chosen based on the Young's modulus measurement of the IPMC/PVDF structures. Furthermore, a nonlinear circuit model is proposed to capture the dynamics of the still significant coupling effect, and its parameters are identified through a nonlinear fitting process. A compensation scheme based on this model is then implemented to extract the correct sensing signal. Experimental results show that the developed IPMC/PVDF structure, together with the compensation algorithm, can perform effective, simultaneous actuation and sensing. As a first application, the sensori-actuator has been successfully used for the open-loop micro-injection of living Drosophila embryos.