Micro pneumatic curling actuator - Nematode actuator -. - Keiko Ogura; Shuichi Wakimoto; Koichi Suzumori; Yasutaka Nishioka (ROBIO, 2008)

Miniature soft hand with curling rubber pneumatic actuators. - Shuichi Wakimoto; Keiko Ogura; Koichi Suzumori; Yasutaka Nishioka (ICRA, 2009)

Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube. - Shuichi Wakimoto; Koichi Suzumori; Keiko Ogura (Adv. Robotics, 2011)