“…Much effort has been devoted to the development of this theory in the last two decades (Ericksen, 2007;Suo et al, 2008;Liu, 2013;Dorfmann and Ogden, 2016), driven by recent applications in the real-world. So far, several finite deformations of dielectric structures have been investigated theoretically, including simple shear of a dielectric slab (Dorfmann and Ogden, 2005), inplane homogeneous deformation of a dielectric plate (Dorfmann and Ogden, 2014a), extension and inflation of a dielectric tube (Dorfmann and Ogden, 2006;Zhu et al, 2010) and a multilayer dielectric tube (Bortot, 2018), inflation of a dielectric sphere (Li et al, 2013;Dorfmann and Ogden, 2014b) and of a multilayer dielectric sphere (Bortot, 2017). Figure 1: Bending deformations in dielectric devices: (a) A strain sensor consisting of a stretchable dielectric sandwiched between two flexible ionic conductors attached to a straight finger: the bending of the finger stretches the sensor (Sun et al, 2014); (b) A 4-finger dielectric gripper: this actuator induces voltage-driven bending to lift a rock (Bar-Cohen, 2002); (c) Bending variations of the soft body and fins of a soft electronic "fish" made of dielectric elastomer and ionically conductive hydrogel: the fish can swim at a fast speed driven by periodical bending deformations (Li et al, 2017); (d) A dielectric actuator with a significant voltage-driven bending response (Bar-Cohen, 2002).…”