@article{hines2016inflated,
  title = {Inflated soft actuators with reversible stable deformations},
  journal = {Advanced Materials},
  abstract = {Most soft robotic systems are currently dependent on bulky compressors or pumps. A soft actuation method is presented combining hyperelastic membranes and dielectric elastomer actuators to switch between stable deformations of sealed chambers. This method is capable of large repeatable deformations, and has a number of stable states proportional to the number of actuatable membranes in the chamber.},
  volume = {28},
  number = {19},
  pages = {3690--3696},
  month = mar,
  year = {2016},
  author = {Hines, Lindsey and Petersen, Kirstin and Sitti, Metin},
  doi = {10.1002/adma.201600107},
  month_numeric = {3}
}