Disclosed is a method of fabricating a multiple degree of freedom actuator with inter-digitated electrodes including molding an electroactive polymer membrane so that a plurality of projections are formed around a cross section of an outer surface of the polymer membrane depositing a metal electrode layer onto the outer surface of the molded membrane and removing the plurality of projections on the outer surface on the molded membrane, thereby forming a multiple degree of freedom actuator with a plurality of inter-digitated electrodes. Also provided are actuators as well as devices (such as catheters) including such actuators formed by the disclosed methods of fabricating an actuator with multiple DOF.
