Miniaturized Circuitry for Capacitive Self-sensing and Closed-loop Control of Soft Electrostatic Transducers. - Khoi Ly; Nicholas Kellaris; Dade McMorris; Brian K. Johnson; Eric Acome; Vani Sundaram; Mantas Naris; J. Sean Humbert; Mark E. Rentschler; Christoph Keplinger; Nikolaus Correll (CoRR, 2020)