'Soft wrist rehabilitation robot' (Healthcare Technologies, 2017), 'Soft Robots for Healthcare Applications: Design, modelling, and control', Chap. 5, pp. 87-106, DOI: 10.1049/PBHE014E_ch5 IET Digital Library, https://digital-library.theiet.org/;jsessionid=2e2aqaq13fpiq.x-iet-live-01content/books/10.1049/pbhe014e_ch5