'State of the art' (Healthcare Technologies, 2017), 'Soft Robots for Healthcare Applications: Design, modelling, and control', Chap. 2, pp. 23-48, DOI: 10.1049/PBHE014E_ch2
IET Digital Library, https://digital-library.theiet.org/;jsessionid=73lb6ihgf9a5q.x-iet-live-01content/books/10.1049/pbhe014e_ch2