A modular soft manipulator with variable stiffness. Ranzani, T., Cianchetti, M., Gerboni, G., De Falco, I., Petroni, G., & Menciassi, A.
bibtex   
@article{ranzanimodular,
  title={A modular soft manipulator with variable stiffness},
  author={Ranzani, Tommaso and Cianchetti, Matteo and Gerboni, Giada and De Falco, Iris and Petroni, Gianluigi and Menciassi, Arianna}
}
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