A dielectric actuator including an enclosure forming a cavity having a dielectric fluid therein, the enclosure having a base, a flexible membrane and a reversibly-stretchable membrane, and a pair of electrodes, one electrode of the pair of electrodes arranged at the flexible membrane, the other electrode arranged at the base, the pair of electrodes arranged to generate an electric field to an area of the cavity that is filled with the dielectric fluid, wherein when the electric field is generated between the pair of electrodes, an electrostatic pressure in the dielectric fluid causes the flexible membrane to move towards the base, reducing an initial volume of the area of the cavity, increases a pressure of the dielectric fluid inside the cavity, and causes the reversibly-stretchable membrane to bump out to an expanded state.