Energy-Efficient Four-Mode Electromagnetic Mini Valve With Single-Coil Drive: Modular Design and Application in Pneumatic Soft Actuators. - Jingjia Zhu; Pengfei Han; Hubiao Fang; Jie Hu; Guofang Gong; Huayong Yang; Fuzhou Niu; Dong Han (IEEE Trans Autom. Sci. Eng., 2025)