Arvi Gjoka Espen Knoop Moritz Bächer Denis Zorin Daniele Panozzo Soft Pneumatic Actuator Design using Differentiable Simulation. 106 2024 SIGGRAPH (Conference Paper Track) https://doi.org/10.1145/3641519.3657467 https://www.wikidata.org/entity/Q130876275 conf/siggraph/2024 db/conf/siggraph/siggraph2024.html#GjokaKBZP24