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Self-Sensing Origami-Inspired Soft Twisting Actuators and I..:

Yang, Yang ; Yan, Shaoyang ; Xie, Yuan...
IEEE Robotics and Automation Letters.  9 (2024)  2 - p. 1404-1411 , 2024
Link: https://doi.org/10.1109/lra.2023.3347142