@article {1491,
	title = {Small-Strain Modeling of Helical Dielectric Elastomer Actuators},
	journal = {IEEE/ASME TRANSACTIONS ON MECHATRONICS},
	volume = {17},
	year = {2012},
	pages = {318{\textendash}325},
	keywords = {Bioengineering},
	issn = {1083-4435},
	author = {F. Carpi and D. De Rossi}
}
