@patent{Keplinger20-P-Hydraulically ,
  title = {Hydraulically Amplified Self-Healing Electrostatic Transducers Harnessing Zipping Mechanism},
  abstract = {Hydraulically-amplified, self-healing, electrostatic transducers that harness electrostatic and hydraulic forces to achieve various actuation modes. Electrostatic forces between electrode pairs of the transducers generated upon application of a voltage to the electrode pairs draws the electrodes in each pair towards each other to displace a liquid dielectric contained within an enclosed internal cavity of the transducers to drive actuation in various manners. The electrodes and the liquid dielectric form a self-healing capacitor whereby the liquid dielectric automatically fills breaches in the liquid dielectric resulting from dielectric breakdown. Due to the resting shape of the cavity, a zipping-mechanism allows for selectively actuating the electrodes to a desired extent by controlling the voltage supplied.},
  number = {US Patent 20210003149A1},
  month = jan,
  year = {2021},
  author = {Keplinger, Christoph Matthias and Acome, Eric Lucas and Kellaris, Nicholas Alexander and Mitchell, Shane Karl and Morrissey, Timothy G},
  url = {https://patents.google.com/patent/US20210003149A1/en},
  month_numeric = {1}
}