Abstract: An actuator device includes an electroactive polymer actuator that includes two electrodes, a drive unit, and a waveform editing section. The drive unit is configured to drive the electroactive polymer actuator by repeatedly applying, to a section between the two electrodes, a voltage that changes in correspondence with drive waveform data that indicates voltage changes corresponding, to one cycle The waveform editing section is configured to change edit waveform data in correspondence with an operation performed by a user When the edit waveform data is changed during driving of the electroactive polymer actuator, the actuator device is configured to update the drive waveform data such that the changed edit waveform data becomes new drive waveform data and drive the electroactive polymer actuator using the updated drive waveform data.