... driving paradigm State Electrode (ABC)Stiff state - - - or + + + More compliant + + - or - - + Action toward A + - - or - + + Action toward B - - + or + + - OutputterminalDielectricelastomersHigh ... VL< Vmax0 < VR< VmaxandVL= f ( x, k, F ) VR= f ( x, k, F ) YesNoVL = 0 or VmaxorVR= 0 or VmaxVL= f ( k, VR ) VR= f ( k, VL ) ''''orVLVRVLVRStiffness ... (3. 7) where xM is the inertial force, )( xBrepresents the damping force, and )( tFdenotes external forces. )( xK and ), ,(RLVVxE are obtained from Eqs. (3. 5) and (3. 6), and...