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A Miniaturized Variable Stiffness Soft Manipulator With a C..:

Hu, Chengquan ; Liu, Jiayuan ; Chen, Jiaqi...
IEEE Robotics and Automation Letters.  8 (2023)  9 - p. 5704-5711 , 2023
Link: https://doi.org/10.1109/lra.2023.3300241