Elasticity vs hyperelasticity considerations in quasi-static modelling of a soft finger-like robotic appendage for real-time position and force estimation - Shiva, A; Sadati, SH; Noh, Y; Fras, J; Ataka, A; Wurdemann, H; Hauser, H; Walker, I; Nanayakkara, DPT; Althoefer, K (Soft Robotics, 2019)