Simultaneous 3D Forming and Patterning Method of Realizing Soft IPMC Robots. - Keita Kubo; Hiroyuki Nabae; Tetsuya Horiuchi; Kinji Asaka; Gen Endo; Koichi Suzumori (IROS, 2020)

Design and Fabrication of 3D Papercraft IPMC Robots. - Hiroyuki Nabae; Keita Kubo; Kazuki Shishikura; Tetsuya Horiuchi; Kinji Asaka; Gen Endo; Koichi Suzumori (RoboSoft, 2022)