In this study, new isotropic magnetic membrane-Type actuators are fabricated and characterized by both theoretical and experimental approaches in terms of their deflections and delivered actuation forces when an external magnetic field is applied. The effects of diameter, thickness, concentration of magnetic particles are investigated. The actuation force depends on the amount of magnetic substance (iron particles in this case) contained in the membranes. As the diameter or thickness or the concentration of iron increases, the magnetic actuation force increases. On the other hand, the deflection does not show a straightforward relationship with one parameter. It is affected by the combination of profile, elasticity of material and magnetic force exerted on the membrane. This work provides a useful reference for selecting and optimizing magnetic membranes as the actuators for soft robotic applications.