'Concept and modelling of a soft rehabilitation actuator: the Peano muscle' (Healthcare Technologies, 2017), 'Soft Robots for Healthcare Applications: Design, modelling, and control', Chap. 3, pp. 49-66, DOI: 10.1049/PBHE014E_ch3 IET Digital Library, https://digital-library.theiet.org/;jsessionid=3n985nnker9cu.x-iet-live-01content/books/10.1049/pbhe014e_ch3