Qualitative synthesis of deformable cylindrical actuators through constraint topology. - Shinichi Hirai; Pierre Cusin; Hiroki Tanigawa; Tomohiro Masui; Satoshi Konishi; Sadao Kawamura (IROS, 2000)

Prototyping Pneumatic Group Actuators Composed of Multiple Single-motion Elastic Tubes. - Shinichi Hirai; Tomohiro Masui; Sadao Kawamura (ICRA, 2001)