Movie S1.

Schematic description of multilayering process. Schematic description of stacking multilayer disks to assemble a linear contracting actuator. Demonstration of actuation of a linear contracting actuator on a flat light bed at 3 kV and increasing frequency (1, 4, 7, 10 Hz). Demonstration of a linear contracting actuator lifting a 1 kg mass. Demonstration of an artificial muscle powered at 3 kV lifting a human skeleton replica forearm. The mass of the actuator is 80 grams, corresponding to approximately the quarter of a bicep found in a natural system.