'Development of a soft ankle rehabilitation robot' (Healthcare Technologies, 2017), 'Soft Robots for Healthcare Applications: Design, modelling, and control', Chap. 6, pp. 107-132, DOI: 10.1049/PBHE014E_ch6
IET Digital Library, https://digital-library.theiet.org/;jsessionid=79jni4scagf8s.x-iet-live-01content/books/10.1049/pbhe014e_ch6