ArticleGoogle Scholar Duriez C. Control of elastic soft robots based on real-time finite element method. In: 2013 IEEE international conference on robotics and automation, Karlsruhe, Germany, 2013. p. 3982–7.https://doi.org/10.1109/icra.2013.6631138. Moseley P, Florez JM, Sonar HA, Agarwal ...