Fischbach made his argument based in large part on data from an early-20th-century torsion balance experiment by Eötvös (whose name would become part of the Eöt-Wash Group's).

The bidirectional torsion motion of soft actuator will enhance the soft robot’s flexibility and maneuverability. Authors of the paper include Yan Xu, Kaiwen Ju, and Chao Zhang.