Electric phase-change actuator with inkjet printed flexible circuit for printable and integrated robot prototyping. - Kenichi Nakahara; Koya Narumi; Ryuma Niiyama; Yoshihiro Kawahara (ICRA, 2017)

Laser Pouch Motors: Selective and Wireless Activation of Soft Actuators by Laser-Powered Liquid-to-Gas Phase Change. - Takefumi Hiraki; Kenichi Nakahara; Koya Narumi; Ryuma Niiyama; Noriaki Kida; Naoki Takamura; Hiroshi Okamoto; Yoshihiro Kawahara (IEEE Robotics Autom. Lett., 2020)

Liquid Pouch Motors: Printable Planar Actuators Driven by Liquid-to-Gas Phase Change for Shape-Changing Interfaces. - Koya Narumi; Hiroki Sato 001; Kenichi Nakahara; Young Ah Seong; Kunihiko Morinaga; Yasuaki Kakehi; Ryuma Niiyama; Yoshihiro Kawahara (IEEE Robotics Autom. Lett., 2020)