Dynamic Model of a Multibending Soft Robot Arm Driven by Cables. Renda, F., Giorelli, M., Calisti, M., & Cianchetti, M. IEEE.
bibtex   
@article{rendadynamic,
  title={Dynamic Model of a Multibending Soft Robot Arm Driven by Cables},
  author={Renda, Federico and Giorelli, Michele and Calisti, Marcello and Cianchetti, Matteo},
  publisher={IEEE}
}
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