Thoughtful and enjoyable discourse with Herbert Shea, the head of LMTS: Soft Transducers Lab at EPFL. What are wishlist parameters and trade-offs for designing dielectric elastomers? What does it take artificial tentacles to solve a Rubik's cube? The challenge of designing convincing haptic illusion and linking human perception and actuation? Is it possible to design a low-power dielectric elastomer? The possibilities of active actuators vs pneumatic in the food industry.