The objective of this project is to create a working optical switching system that can control a Dielectric Elastomer Actuator (DEA) and Electroadhesive pad. This DEA must act as the robot fin in order to control the robot. The DEA must function with the optical switch in order to accurately control the movement of the robot based on the current flow. Being able to control the current flow and states of the DEA, on and off, will allow the robot to function for its intended purpose. Electroadhesion will be implemented in this project as well and attached to a soft robot to be used for a variety of applications and with the optical switch.