A device for electroadhesion and conversion of electrical energy into mechanical energy, for example electrostatic actuation, is provided, including a soft polymeric dielectric support having at least two sets of overlapping electrodes patterned respectively on the upper surface and bottom surface of the polymeric support, the electrodes of the two sets can be electrically activated through a power supply for providing voltage change suitable for electroadhesion, electrostatic actuation or both at the same time.