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Soft Robotic Arm With Extensible Stiffening Layer:

Xie, Zhexin ; Mohanakrishnan, Muralidharan ; Wang, Peiyi...
IEEE Robotics and Automation Letters.  8 (2023)  6 - p. 3597-3604 , 2023
Link: https://doi.org/10.1109/lra.2023.3268012