A contraction type soft actuator using poly vinyl chloride gel. - Misaki Yamano; Naoki Ogawa; Minoru Hashimoto; Midori Takasaki; Toshihiro Hirai (ROBIO, 2008)

Characteristics evaluation of PVC gel actuators. - Naoki Ogawa; Minoru Hashimoto; Midori Takasaki; Toshihiro Hirai (IROS, 2009)