Development of a Gel Urethra Model Simulator Using Agarose-PEG and Performance Evaluation of a Soft Growing Actuator for Urinary Catheter Insertion Assistance. - Kotaro Kishino; R. Sasaki; Fumio Ito; Hiroyuki Yamanaka; Mitsuru Komeya; Taro Nakamura 001 (SII, 2026)