'Modelling and control strategies development of GAREX' (Healthcare Technologies, 2017), 'Soft Robots for Healthcare Applications: Design, modelling, and control', Chap. 9, pp. 167-206, DOI: 10.1049/PBHE014E_ch9
IET Digital Library, https://digital-library.theiet.org/;jsessionid=5bslealm8ds60.x-iet-live-01content/books/10.1049/pbhe014e_ch9