Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator - Ferrandy,V; Indrawanto; Ferryanto,F; Sugiharto,A; Franco,E; Garriga-Casanovas,A; Mahyuddin,AI; Baena,FRY; Mihradi,S; Virdyawan,V (ROBOTICA, 2023)