We do a lot of rolling diaphragms in my company. Seal friction per se may be negligible, but the seal convolution still has loss properties (bending of the rubber diaphragm wall) that must be overcome to drive the piston.
Sister company does a lot of bellows. Bellows have to have a stiff enough wall to not expand under the applied pressure differential and blow out the convolutions. If the wall is stiff enough, then the bellows have a spring constant that will affect the force required for a given displacement, i.e. the force will increase/decrease with stroke distance.
TANSTAAFL. Translation: there ain't no such thing as a free lunch.
edit: there are ways to do similar motions, look at brake master cylinders, hydraulic valve controllers, carburetors...other devices from the 30's and 40's. The idea is to allow seal leakage past the piston (very low drag piston seals), and have a way to recycle the leaked fluid back to a reservoir. Gets tricky if you need a double acting device, but I can think of a few ways to do it provided you have external power. Pneumatic controllers use the same concept, but they just consume (leak) a little bit of air continuously.