Dielectric Elastomer Actuator Driven Soft Robotic Structures With Bioinspired Skeletal and Muscular Reinforcement. - Markus Franke; Adrian Ehrenhofer; Soumyarup Lahiri; E.-F. Markus Henke; Thomas Wallmersperger; Andreas Richter 002 (Frontiers Robotics AI, 2020)