Method including a plurality of EAP based sections, a power source/sink unit and a controller. Each EAP based section includes an electronic charge/discharge unit and variable capacitor having an elastically deformable body with an arrangement of stretchable synthetic material and electrodes functioning as the capacitor with a variable capacitance as the deformable body stretches and relaxes. Each EAP based section is connected to the power source/sink unit by the respective electronic charge/discharge unit under control of the controller which includes: a processing unit coupled to a sensing circuitry which is coupled to the variable capacitor of each EAP based section, and a driving circuitry coupled to the electronic charge/discharge unit. The method includes for each EAP based section: receiving a state parameter signal/signals from the capacitor; establishing a dedicated control signal based on the associated state parameter signal/signals received; transmitting the dedicated control signal to the associated electronic charge/discharge unit.