An elliptic friction drive element using an ICPF (ionic conducting polymer gel film) actuator. - Satoshi Tadokoro; Takahiko Murakami; Satoshi Fuji; Ryu Kanno; Motofumi Hattori; Toshi Takamori; Keisuke Oguro (ICRA, 1996)

Development of a Distributed Actuation Device Consisting of Soft Gel Actuator Elements. - Satoshi Tadokoro; Satoshi Fuji; Mitsuaki Fushimi; Ryu Kanno; Tetsuya Kimura; Toshi Takamori; Keisuke Oguro (ICRA, 1998)