@article{yim2013magnetically, title = {Magnetically Actuated Soft Capsule With the Multimodal Drug Release Function}, author = {Yim, Sehyuk and Goyal, Kartik and Sitti, Metin}, journal = {IEEE/ASME Trans. on Mechatronics}, volume = {18}, number = {4}, pages = {1413--1418}, publisher = {IEEE}, year = {2013}, doi = {} }