Micro Elastic Pouch Motors: Elastically Deformable and Miniaturized Soft Actuators Using Liquid-to-Gas Phase Change. - Seiya Hirai; Tatsuho Nagatomo; Takefumi Hiraki; Hiroki Ishizuka; Yoshihiro Kawahara; Norihisa Miki (IEEE Robotics Autom. Lett., 2021)