@conference {474,
	title = {Analytical Design of a Pneumatic Elastomer Robot with Deterministically Adjusted Stiffness},
	booktitle = {2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2021)},
	year = {2021},
	author = {Uksang Yoo and Yang Liu and Ashish Deshpande and Farshid Alambeigi}
}
