The co-existing remarkable ferroelectric properties and mechanical flexibility of PVDF polymer provides it significant advantages over traditional solid-state ferroelectrics and other elastomers for emerging technological applications. Soft robotics is such a significant avenue where PVDF have shown plenty of opportunities. However, to exploit those potential avenues efficiently, it is important to optimise the material, in particular electroactive properties of PVDF and manufacturing processes. In this chapter, we discuss the key electroactive characteristics of PVDF and optimisation strategies to enable its use in actuator and soft robotic designs. Further, the areas of biomedical engineering where state-of-art PVDF based actuators and soft robots are being explored is presented. This chapter also addresses some of the critical material and fabrication challenges that tend to limit the impact of PVDF in soft robotic development. Finally, the chapter attempts to provide some insight on the possible innovative ways to tackle these challenges and leverage the full potential of PVDF for soft robotics to advance biomedical engineering.