HASEL Actuator Design for Out-of-Plane Bending: A Parametric Study of Planar Geometry. - Zachary Brei; Chae Woo Lim; Anneliese Ferguson; Anvay A. Pradhan; Varshni Vinayagam Sangeetha; Xiangyun Bu; Brent Usui; Daniel B. Johnson; Ram Vasudevan; Talia Y. Moore (RoboSoft, 2024)