@article{yim2012shape,
  title = {Shape-Programmable Soft Capsule Robots for Semi-Implantable Drug Delivery},
  publisher = {Mechatronics, IEEE/ASME Transactions on},
  year = {2012},
  slug = {yim2012shape},
  author = {Yim, Sehyuk and Sitti, Metin}
}