# Geometry-Based Customization of Bending Modalities for 3D-Printed Soft Pneumatic Actuators

> Research article (IEEE Robotics and Automation Letters, 2018) · cited 36× · AI/ML

**Wikidata**: [openalex:W2842442455](https://www.wikidata.org/wiki/openalex:W2842442455)  
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