Tendon-Based Stiffening for a Pneumatically Actuated Soft Manipulator.
Ali ShivaAgostino StilliYohan NohAngela FaragassoIris De FalcoGiada GerboniMatteo CianchettiArianna MenciassiKaspar AlthoeferHelge A. WurdemannPublished in: IEEE Robotics Autom. Lett. (2016)