%0 Journal Article %J IEEE/ASME TRANSACTIONS ON MECHATRONICS %D 2012 %T Small-Strain Modeling of Helical Dielectric Elastomer Actuators %A F. Carpi %A D. De Rossi %K Bioengineering %B IEEE/ASME TRANSACTIONS ON MECHATRONICS %V 17 %P 318–325 %G eng