Walther Nernst derived the equilibrium membrane-potential formula in 1888 from thermodynamics, long before the molecular structure of membranes was known. Julius Bernstein applied it to nerves in 1902, proposing correctly that the resting potential originates in the potassium gradient.
The multi-ion extension — the GHK equation — was derived by David Goldman in 1943 and by Alan Hodgkin and Bernard Katz in 1949. Hodgkin and Andrew Huxley then built the dynamical theory of voltage-gated channels on the squid giant axon through the 1950s, winning the 1963 Nobel Prize; the Hodgkin–Huxley model remains the canonical framework for excitable membranes.
The cochlear story is more recent. The endocochlear potential was measured by Hallowell Davis and colleagues in 1958, and the stria vascularis identified as its source over the following decades. Prestin, the electromotile motor of outer hair cells, was identified molecularly by Peter Dallos’s group in 2000 — the discovery that gave the cochlear amplifier its mechanism.