# Bioinspired Three-Dimensional-Printed Helical Soft Pneumatic Actuators and Their Characterization

> Research article (Soft Robotics, 2019) · cited 139× · AI/ML

**Wikidata**: [openalex:W2983020220](https://www.wikidata.org/wiki/openalex:W2983020220)  
**Source**: https://4ort.xyz/entity/bioinspired-three-dimensional-printed-helical-soft-pneumatic-actuators-and-their-characterization