An actuator (100, 500) comprising: a fluid-impermeable membrane (110a, 110b, 502) wherein the fluid-impermeable membrane comprises: a first conducting portion (104a, 504a) comprising a conductive material and configured to produce an electric field in response to a first electrical input; a second conducting portion (104b, 504b) comprising a conductive material, the second conducting portion being positioned opposite the first conducting portion and configured to attract the first conducting portion in response to the first electrical input; and a first insulating portion (106a, 106b, 503) comprising an elastomer configured to electrically isolate the first conducting portion from the second conducting portion; and a compartment (118, 506) defined by the fluid-impermeable membrane, wherein the compartment is configured to deliver a hydraulic force to the fluid-impermeable membrane in response to adherence of the first conducting portion and the second conducting portion, the compartment having: a central region (124, 510); an edge region (126, 512) extending from and fluidly connected with the central region; a dielectric fluid (114, 508); and the actuator being characterized by an electroactive valve (120, 200, 300, 400, 514) between the central region and the edge region, the electroactive valve being configured to selectively permit movement of the dielectric fluid between the central region and the edge region, wherein the electroactive valve is configured to maintain the hydraulic force on the fluid-impermeable membrane and release the hydraulic force upon receiving a second electrical input. a first conducting portion (104a, 504a) comprising a conductive material and configured to produce an electric field in response to a first electrical input; a second conducting portion (104b, 504b) comprising a conductive material, the second conducting portion being positioned opposite the first conducting portion and configured to attract the first conducting portion in response to the first electrical input; and a first insulating portion (106a, 106b, 503) comprising an elastomer configured to electrically isolate the first conducting portion from the second conducting portion; and a compartment (118, 506) defined by the fluid-impermeable membrane, wherein the compartment is configured to deliver a hydraulic force to the fluid-impermeable membrane in response to adherence of the first conducting portion and the second conducting portion, the compartment having: a central region (124, 510); an edge region (126, 512) extending from and fluidly connected with the central region; a dielectric fluid (114, 508); and the actuator being characterized by an electroactive valve (120, 200, 300, 400, 514) between the central region and the edge region, the electroactive valve being configured to selectively permit movement of the dielectric fluid between the central region and the edge region, wherein the electroactive valve is configured to maintain the hydraulic force on the fluid-impermeable membrane and release the hydraulic force upon receiving a second electrical input. a central region (124, 510); an edge region (126, 512) extending from and fluidly connected with the central region; a dielectric fluid (114, 508); and the actuator being characterized by an electroactive valve (120, 200, 300, 400, 514) between the central region and the edge region, the electroactive valve being configured to selectively permit movement of the dielectric fluid between the central region and the edge region, wherein the electroactive valve is configured to maintain the hydraulic force on the fluid-impermeable membrane and release the hydraulic force upon receiving a second electrical input.