Rob Wood teaches a course on micro/nano robotics, and asks me to give a 30-minute tutorial on the theory of dielectric elastomer actuators (DEAs).  I attach my slides, which might be useful to you if you'd like to include this topic in your class.  The tutorial draws upon work in the literature, as well as recent work in my group:

• Xuanhe Zhao, Zhigang Suo, Method to analyze electromechanical stability of dielectric elastomers, Applied Physics Letters 91, 061921 (2007).  (Discussion of this paper in iMechanica)
• Xuanhe Zhao, Wei Hong and Zhigang Suo, Electromechanical coexistent states and hysteresis in dielectric elastomers, Physical Review B 76,134113 (2007).  (Discussion of this paper in iMechanica)
• Zhigang Suo, Xuanhe Zhao and William H. Greene, A nonlinear field theory of deformable dielectrics . Journal of the Mechanics and Physics of Solids 56, 467-286 (2008).  (Discussion of this paper in iMechanica)