Electroactive polymers that contract and expand, sense pressure, and attenuate force and systems using the same

An electroactive polymer-based system, comprising:

• one or more first electrodes;
• a second electrode counter to the first electrode and spaced apart from the first electrode;
• an ionically conductive fluid;
• and
• an actuator electronically connected to the first electrodes and in fluidic communication with the second electrode, and comprising
• an electroactive ionic polymer layer comprising an electroactive ionic polymer selected to expand or contract on application of an electrical potential;
• and
• an array of a plurality of isolated conductive areas each in electric communication with a plurality of areas of the electroactive ionic polymer layer;
• wherein the plurality of isolated conductive areas comprises at least one or more first isolated conductive areas in electric communication with the one or more first electrodes independent from other isolated conductive areas such that the areas of the electroactive ionic polymer layer in electric communication with the first isolated conductive areas are capable of being actuated independently.