Layered actuation structures comprising artificial muscles and connecting ledges

A method for actuating a layered actuation structure, the method comprising:

• providing a voltage using a power supply electrically coupled to an electrode pair of one or more artificial muscles, wherein:
• at least one of the one or more artificial muscles are disposed in each of a first and second actuation cavity, wherein the first actuation cavity is formed between an actuation platform of a first platform pair and a mounting platform of the first platform pair, and the second actuation cavity is formed between an actuation platform of a second platform pair and a mounting platform of the second platform pair;
• one or more connecting ledges of each platform pair couple at least one of the actuation platform and the mounting platform of each platform pair to at least one of an actuation arm and a support arm, respectively;
• and
• a collective stiffness of the one or more connecting ledges of the first platform pair is different than a collective stiffness of the one or more connecting ledges of the second platform pair;
• and
• applying the voltage to the electrode pair of at least one artificial muscle disposed in one of the first and second actuation cavities, thereby actuating the electrode pair of the at least one artificial muscle from a non-actuated state to an actuated state thereby applying pressure to an actuation platform, generating a translational motion of the actuation platform.