A medical device, comprising: a bendable portion having at least one ionic electroactive polymer actuator, the actuator comprising: at least one polymer electrolyte member defining at least a surface, the at least one polymer electrolyte member including a polymer electrolyte member proximal end and a polymer electrolyte member distal end that is distal to the polymer electrolyte member proximal end; and a plurality of electrodes disposed about the at least a surface of the at least one polymer electrolyte member; an elongate, flexible portion defining a flexible portion proximal end and a flexible portion distal end, the flexible portion distal end contacting the polymer electrolyte member proximal end, the elongate, flexible portion further comprising: a core extending from the flexible portion proximal end to the flexible portion distal end and having a tapered portion that is adjacent to the flexible portion distal end and extends inwardly to the polymer electrolyte member proximal end, and a sleeve surrounding the core, and; a plurality of electrically-conductive wires, each having a proximal end and a distal end coupled to at least one of the plurality of electrodes; wherein, when an electrical signal supplied through at least one of the plurality of electrically-conductive wires to at least one of the plurality of electrodes, the at least one polymer electrolyte member bendably deforms in response to the electrical signal supplied through at least one of the plurality of electrically-conductive wires. at least one polymer electrolyte member defining at least a surface, the at least one polymer electrolyte member including a polymer electrolyte member proximal end and a polymer electrolyte member distal end that is distal to the polymer electrolyte member proximal end; and a plurality of electrodes disposed about the at least a surface of the at least one polymer electrolyte member; an elongate, flexible portion defining a flexible portion proximal end and a flexible portion distal end, the flexible portion distal end contacting the polymer electrolyte member proximal end, the elongate, flexible portion further comprising: a core extending from the flexible portion proximal end to the flexible portion distal end and having a tapered portion that is adjacent to the flexible portion distal end and extends inwardly to the polymer electrolyte member proximal end, and a sleeve surrounding the core, and; a core extending from the flexible portion proximal end to the flexible portion distal end and having a tapered portion that is adjacent to the flexible portion distal end and extends inwardly to the polymer electrolyte member proximal end, and a sleeve surrounding the core, and; a plurality of electrically-conductive wires, each having a proximal end and a distal end coupled to at least one of the plurality of electrodes; wherein, when an electrical signal supplied through at least one of the plurality of electrically-conductive wires to at least one of the plurality of electrodes, the at least one polymer electrolyte member bendably deforms in response to the electrical signal supplied through at least one of the plurality of electrically-conductive wires.