The following publications are possibly variants of this publication:
- Shrinkable, stiffness-controllable soft manipulator based on a bio-inspired antagonistic actuation principleAgostino Stilli, Helge A. Wurdemann, Kaspar Althoefer. iros 2014: 2476-2481 [doi]
- Tendon-Based Stiffening for a Pneumatically Actuated Soft ManipulatorAli Shiva, Agostino Stilli, Yohan Noh, Angela Faragasso, Iris De Falco, Giada Gerboni, Matteo Cianchetti, Arianna Menciassi, Kaspar Althoefer, Helge A. Wurdemann. ral, 1(2):632-637, 2016. [doi]
- Soft Robotics. Bio-inspired Antagonistic StiffeningAgostino Stilli, Kaspar Althoefer, Helge A. Wurdemann. In Athanasios Karafillidis, Robert Weidner, editors, Developing Support Technologies - Integrating Multiple Perspectives to Create Assistance that People Really Want. Volume 23 of Biosystems & Biorobotics, pages 207-214, Springer, 2018. [doi]