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The present invention relates to polymers that convert between electrical and mechanical energy. When a voltage is applied to electrodes contacting an electroactive polymer, the polymer deflects. This deflection may be used to do mechanical work. Similarly, when a previously charged electroactive po

The present invention relates to polymers that convert between electrical and mechanical energy. When a voltage is applied to electrodes contacting an electroactive polymer, the polymer deflects. This deflection may be used to do mechanical work. Similarly, when a previously charged electroactive polymer deflects, the electric field in the material is changed. The change in electric field may be used to produce electrical energy. An active area is a portion of a polymer having sufficient electrostatic force to enable deflection of the portion and/or sufficient deflection to enable a change in electrostatic force or electric field. The present invention relates to energy efficient transducers and devices comprising multiple active areas on one or more electroactive polymers. The invention also relates to methods for actuating one or more active areas on one or more electroactive polymers while maintaining a substantially constant potential energy.

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1. A device for converting between electrical energy and mechanical energy, the device comprisingan electroactive polymer having a first active area, the first active area comprising at least two first active area electrodes and a first portion of the electroactive polymer, the first portion arrange

1. A device for converting between electrical energy and mechanical energy, the device comprisingan electroactive polymer having a first active area, the first active area comprising at least two first active area electrodes and a first portion of the electroactive polymer, the first portion arranged in a manner which causes the first portion to deform in response to a change in electric field provided by the at least two first active area electrodes and/or arranged in a manner which causes a change in electric field in response to deflection of the first portion, a second portion of the electroactive polymer that stores mechanical input energy in tension, wherein the device is arranged such that elastic potential energy of the polymer is substantially independent of deformation of the first portion in response to a change in electric field and/or deformation of the first portion causing a change in electric field. 2. The device of claim 1 wherein the mechanical input energy is substantially equal to the elastic energy required to deflect the first portion of the electroactive polymer for a part of the deformation.3. The device of claim 2 wherein the mechanical input energy is substantially equal to the elastic energy required to deflect the first portion of the electroactive polymer for an entire deformation corresponding to an actuation.4. The device of claim 1 wherein the mechanical input energy is less than the elastic energy required to deflect the first portion of the electroactive polymer for a part of the deformation.5. The device of claim 1 wherein the first portion and the second portion are arranged such that deformation of the first portion includes a direction of expansion that is at least partially linearly aligned with a direction of contraction for the second portion.6. The device of claim 1 wherein the device is arranged such that elastic potential energy of the polymer remains substantially constant during deformation of the first portion.7. The device of claim 5 further comprising a second active area, the second active area comprising at least two second active area electrodes and the second portion of the electroactive polymer, the second portion arranged in a manner which causes the second portion to deform in response to a change in electric field provided by the at least two second active area electrodes and/or arranged in a manner which causes a change in electric field in response to deformation of the second portion.8. The device of claim 7 wherein elastic potential energy stored in the second portion during actuation of the second active area at least partially contributes to the mechanical input energy.9. The device of claim 7 wherein the first active area and the second active area are arranged such that deformation of the first portion comprises a direction of contraction that is at least partially linearly aligned with a direction of expansion for the second portion.10. The device of claim 7 wherein the electroactive polymer is a monolithic polymer.11. The device of claim 10 wherein the monolithic polymer has a substantially symmetrical geometry.12. The device of claim 10 wherein the first active area and the second active area are arranged substantially symmetrically about a central portion of the monolithic polymer.13. The device of claim 1 wherein the electroactive polymer is arranged such that elastic potential energy of the electroactive polymer is independent of deformation in response to a change in electric field provided by the at least two first active area electrodes and/or deformation which causes a change in electric field.14. The device of claim 1 further comprising one or more structures that constrain deformation of the polymer to move along an equipotential line of substantially constant elastic potential energy.15. The device of claim 14 wherein the mechanical input energy is provided by an external load coupled to the one or more constraining structures.16. The device of claim 1 wherein the device is included in one of an actuator, a motor and a generator.17. A device for converting between electrical energy and mechanical energy, the device comprisingat least one electroactive polymer, the at least one electroactive polymer comprising a first active area, the first active area comprising at least two first active area electrodes and a first portion of the at least one electroactive polymer, the first portion arranged in a manner which causes the first portion to change in response to a change in electric field provided by the at least two first active area electrodes and/or arranged in a manner which causes a change in electric field in response to deformation of the first portion, one or more structures that constrain deformation of the polymer such that elastic potential energy of the device, which is the sum of the elastic energy in the device, is substantially independent of deformation of the first portion in response to a change in electric field and/or deformation of the first portion causing a change in electric field. 18. The device of claim 17 wherein the at least one electroactive polymer is arranged such that elastic potential energy of the device is substantially constant during deformation of the first portion in response to a change in electric field and/or deformation of the first portion causing a change in electric field.19. The device of claim 18 further comprising a home position having a lower elastic potential energy than the substantially constant elastic potential energy of the device during deformation of the first portion.20. The device of claim 17 further comprising a second active area, the second active area comprising at least two second active area electrodes and a second portion of the at least one electroactive polymer, the second portion arranged in a manner which causes the second portion to deflect in response to a change in electric field provided by the at least two second active area electrodes and/or arranged in a manner which causes a change in electric field in response to deformation of the second portion.21. The device of claim 20 wherein the first active area and the second active area are arranged such that deformation of the first portion includes a direction of contraction that is at least partially linearly aligned with a direction of expansion for the second portion.22. The device of claim 21 wherein the at least one electroactive polymer is a monolithic polymer that comprises both the first portion and the second portion.23. The device of claim 20 wherein the first portion of the at least one electroactive polymer is included in a first electroactive polymer that is mechanically coupled to a second electroactive polymer that comprises the second portion.24. The device of claim 17 wherein the one or more structures constrain deformation of the polymer to move along an equipotential line of substantially constant elastic potential energy.25. The device of claim 24 wherein the one or more structures provide forces perpendicular to the equipotential line during the deformation.26. A method of using at least one electroactive polymer, the at least one electroactive polymer comprising a first active area, the first active area comprising at least two first active area electrodes and a first portion of the at least one electroactive polymer, the method comprising deflecting the first portion such that elastic potential energy of the at least one electroactive polymer is substantially constant for the deformation.27. The method of claim 26 wherein the deformation is in response to a change in electric field provided by the at least two first active area electrodes.28. The method of claim 26 further comprising deflecting a second portion of the at least one electroactive polymer, the second portion included in a second active area having at least two second active area electrodes.29. The method of claim 28 wherein deflecting of the second portion is at least partially assisted by elastic energy stored in the first portion.30. The method of claim 28 wherein application of a voltage difference to the at least two second active area electrodes begins after application of a voltage difference to the at least two first active area electrodes ends.31. The method of claim 28 wherein application of a voltage difference to the at least two second active area electrodes begins while the first portion of the at least one electroactive polymer is contracting.32. The method of claim 31 wherein application of a voltage difference to the at least two second active area electrodes begins during the peak elastic contraction of the first portion of the at least one electroactive polymer.33. The method of claim 28 wherein actuating the second active area includes a direction of expansion that is at least partially linearly aligned with a direction of contraction of the first active area after actuation.34. The method of claim 28 wherein the first portion and second portion are deformed to move a third portion of the at least one electroactive polymer along a path.35. The method of claim 26 wherein the first portion is deformed in resonant mode.