Novel robust electroactive polymers (EAPs) and EAP-based systems are described, which contract and expand at low voltages to provide for a shape-morphing system, which also sense mechanical pressure, from gentle touch to high impact, and which attenuate force. These EAPs and EAP-based systems can be used in a prosthetic liner, and potentially as the entire prosthetic liner, in a prosthetic hard socket, in shoe wear, sports gear, protective gear, and military gear, and in compression equipment, to contract and expand in strategic areas as needed to maintain a perfect fit, to sense pressure and provide feedback to automatically maintain perfect fit, and to attenuate force for an extremely comfortable fit.
