Mahmood Tahir, Ahmad, and Matteo Zoppi. “Design and Analysis of a Soft Pneumatic Actuator to Develop Modular Soft Robotic Systems”. Journal of Automation, Mobile Robotics and Intelligent Systems, vol. 13, no. 1, July 2019, pp. 30-36, https://doi.org/10.14313/JAMRIS_1-2019/4.