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Design and control of a 3-chambered fiber reinforced soft a..:

Nguyen, Pham Huy ; Sridar, Saivimal ; Zhang, Wenlong.
International Journal of Intelligent Robotics and Applications.  1 (2017)  3 - p. 342-351 , 2017
Link: https://doi.org/10.1007/s41315-017-0020-z