'Introduction' (Healthcare Technologies, 2017), 'Soft Robots for Healthcare Applications: Design, modelling, and control', Chap. 1, pp. 1-21, DOI: 10.1049/PBHE014E_ch1
IET Digital Library, https://digital-library.theiet.org/;jsessionid=1p6ctwb73d258.x-iet-live-01content/books/10.1049/pbhe014e_ch1