Configuration Modeling of a Soft Robotic Element with Selectable Bending Axes. - Emily A. Allen; Brandon C. Townsend; John P. Swensen (IROS, 2019)

Design of a Highly-Maneuverable Pneumatic Soft Actuator Driven by Intrinsic SMA Coils (PneuSMA Actuator) *. - Emily A. Allen; John P. Swensen (IROS, 2020)