Rolled electroactive polymers

Device (800; 810; 870-874) for converting between electrical energy and mechanical energy, the device comprising: a polymer roll transducer (10) comprising a) an electroactive polymer (12, 22) including at least one active area (801b) and b) at least two electrodes (14, 16) in electrical communication with the active area wherein at least a portion of the electroactive polymer is wrapped upon itself to form a roll (801); at least one support member (803; 840; 841; 850; 851) coupled to the transducer polymer roll to provide at least one of i) a force that maintains in tension at least part of the polymer, ii) a force for controlling flexural transducer and polymeric roll iii) combinations thereof; at least one mechanical connection (804-806, 812, 830) coupled to the polymer roll transducer for allowing a force or a moment generated in a first portion of the electroactive polymer to communicate to a second portion of the electroactive polymer and an end cap (806) pivotally coupled to the support member to allow movement of the end cap in one or more directions.