Hiroki MatsuokaTakefumi KandaShuichi WakimotoKoichi SuzumoriPierre LambertDevelopment of a Rubber Soft Actuator Driven with Gas/Liquid Phase Change.517-524201610Int. J. Autom. Technol.4https://doi.org/10.20965/ijat.2016.p0517db/journals/ijat/ijat10.html#MatsuokaKWSL16