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Soft Mechanism by using a Sponge-Core-Soft-Rubber Actuator ..:

Hayakawa, Yasuhiro ; Ueda, Naoyoshi ; Hirota, Shogo.
Proceedings of the JFPS International Symposium on Fluid Power.  2005 (2005)  6 - p. 191-195 , 2005
Link: https://doi.org/10.5739/isfp.2005.191