Design and Characterization of a Novel Vacuum Bending Actuator and a Bimorph: for Preliminary Use in a Continuum Robot Arm. - Sajeewa D. Katugampala; Kasun M. S. Arachchi; Suresh Asanka; Rancimal B. Arumathanthri; Asitha L. Kulasekera; Nirosh D. Jayaweera (CIS/RAM, 2019)