A system and method for decurling a sheet medium including a first penetrating roller and a second elastomeric roller mounted substantially parallel. A pressure-sensitive electrically conductive material has properties that vary with its state of compression. An actuator is operative for moving the first penetrating roller and the second elastomeric roller in a direction towards each other, to penetrate the body of the second elastomeric roller with the body of the first penetrating roller. The pressure-sensitive electrically conductive material is subject to pressure by the penetration of the first penetrating roller into the second elastomeric roller. A pair of electrical terminals applies an electrical charge across the pressure-sensitive electrically conductive material. In further embodiments, an electrical property is substantially continuously measured and the depth of penetration is substantially continuously controlled based upon closed-loop feedback of the substantially continuously measuring.