An electro-polymer motor comprising a fixed member and a first actuator having a first end fixedly connected to the fixed member and a second end is presented. The first actuator comprises a polymer positioned between two electrodes. The electrodes are in communication with a power supply. The motor also comprises a driven member comprising a first leg and a second leg such that the first leg and the second leg are separated by an axis. The driven member is fixedly connected to the second end of the first actuator. The motor also comprises a compressible member having a first end fixedly connected to the fixed member and a second end fixedly connected to the second leg of the driven member. The compressible member is spaced apart from the first actuator. The first actuator elongates after the power supply applies a voltage across the electrodes to move the driven member.