Electrode arrays and systems for inserting same are disclosed. In some embodiments, electrode arrays are provided, the electrode arrays comprising: a passive-bending portion an active-bending portion coupled to the passive bending portion a plurality of electrodes located in at least one of the passive-bending portion and the active bending portion and an actuator that causes the active-bending portion to deflect from the passive-bending portion. In some embodiments, systems for inserting an electrode array in the body are provided, the systems comprising: an insertion module for controllably inserting the electrode array in the body and sensing forces applied to the electrode array a monitor for providing information to a user and a controller coupled to the insertion module and the monitor, wherein the controller causes the insertion module to control an amount of force that is applied to the electrode array.
