Actuators convert electrical signals and energy into motion of some kind. The three most common types of actuators are electrostatic, thermal, and magnetic. Electrostatic actuators use the force of electrostatic energy to move objects. Two mechanical elements, one that is stationary (the stator) and one that is movable (the rotor) have two different voltages applied to them, which creates an electric field. The field competes with a restoring force on the rotor (usually a spring force produced by the bending or stretching of the rotor) to move the rotor. The greater the electric field, the farther the rotor will move. Thermal actuators use the force of thermal expansion to move objects. When a material is heated, it expands an amount depending on material properties. Two objects can be connected in such a way that one object is heated more than the other and expands more, and this imbalance creates motion. The direction of motion depends on the connection between the objects.