Creeping and Novel Huge Bending of Plasticized PVC. - Md. Zulhash Uddin; Masashi Watanabe; Hirofusa Shirai; Toshihiro Hirai (J. Robotics Mechatronics, 2002)

A contraction type soft actuator using poly vinyl chloride gel. - Misaki Yamano; Naoki Ogawa; Minoru Hashimoto; Midori Takasaki; Toshihiro Hirai (ROBIO, 2008)

Characteristics evaluation of PVC gel actuators. - Naoki Ogawa; Minoru Hashimoto; Midori Takasaki; Toshihiro Hirai (IROS, 2009)