Electro-Active Polymers (EAP) have been described as artificial muscles due to their composition andmuscle-like dynamics . Consequently they have attracted a lot of attention from the biomimetic robotics research community and heralded as a potential alternative to conventional electromagnetic, pneumatic or hydraulic actuation technologies . However, in practice there are a number of technical barriers to overcome before they gain widespread acceptance as robotic actuators . Here we focus on overcoming one of those limiting factors for a type of EAP referred to as Dielectric Electro-Active Polymers (DEAP). © 2014 Springer International Publishing.