@article{george2018control,
  title={Control Strategies for Soft Robotic Manipulators: A Survey},
  author={George Thuruthel, Thomas and Ansari, Yasmin and Falotico, Egidio and Laschi, Cecilia},
  journal={Soft robotics},
  volume={5},
  number={2},
  pages={149--163},
  year={2018},
  publisher={Mary Ann Liebert, Inc. 140 Huguenot Street, 3rd Floor New Rochelle, NY 10801 USA}
}

@book{murray1994mathematical,
  title={A mathematical introduction to robotic manipulation},
  author={Murray, Richard M and Li, Zexiang and Sastry, S Shankar and Sastry, S Shankara},
  year={1994},
  publisher={CRC press}
}

@article{aziz2016controlled,
	title={Controlled and scalable torsional actuation of twisted nylon 6 fiber},
	author={Aziz, Shazed and Naficy, Sina and Foroughi, Javad and Brown, Hugh R and Spinks, Geoffrey M},
	journal={Journal of Polymer Science Part B: Polymer Physics},
	volume={54},
	number={13},
	pages={1278--1286},
	year={2016},
	publisher={Wiley Online Library}
}

@article{trivedi2008soft,
	title={Soft robotics: Biological inspiration, state of the art, and future research},
	author={Trivedi, Deepak and Rahn, Christopher D and Kier, William M and Walker, Ian D},
	journal={Applied Bionics and Biomechanics},
	volume={5},
	number={3},
	pages={99--117},
	year={2008},
}
@article{rus2015design,
	title={Design, fabrication and control of soft robots},
	author={Rus, Daniela and Tolley, Michael T},
	journal={Nature},
	volume={521},
	number={7553},
	pages={467--475},
	year={2015},
}
@article{kim2013soft,
	title={Soft robotics: a bioinspired evolution in robotics},
	author={Kim, Sangbae and Laschi, Cecilia and Trimmer, Barry},
	journal={Trends in biotechnology},
	volume={31},
	number={5},
	pages={287--294},
	year={2013},
}
@article{laschi2014soft,
	title={Soft robotics: new perspectives for robot bodyware and control},
	author={Laschi, Cecilia and Cianchetti, Matteo},
	journal={Frontiers in bioengineering and biotechnology},
	volume={2},
	year={2014},
}
@article{majidi2014soft,
	title={Soft robotics: a perspective current trends and prospects for the future},
	author={Majidi, Carmel},
	journal={Soft Robotics},
	volume={1},
	number={1},
	pages={5--11},
	year={2014},
}

@inproceedings{zhao2016low,
	title={A Low-Cost Soft Coiled Sensor for Soft Robots},
	author={Zhao, Jianguo and Abbas, Ali},
	booktitle={ASME 2016 Dynamic Systems and Control Conference},
	pages={V002T26A006--V002T26A006},
	year={2016},
	organization={American Society of Mechanical Engineers}
}

@article{haines2016new,
	title={New twist on artificial muscles},
	author={Haines, Carter S and Li, Na and Spinks, Geoffrey M and Aliev, Ali E and Di, Jiangtao and Baughman, Ray H},
	journal={Proceedings of the National Academy of Sciences},
	pages={201605273},
	year={2016},
	publisher={National Acad Sciences}
}

@online{TrinkoKit,
	ALTauthor = {David Trinko and Ali Abbas	and Jianguo Zhao},
	title = {Miniature Soft Bending Actuator with Embedded Coiled Muscles},
	date = {2016},
	url = {https://softroboticstoolkit.com/book/miniature-soft-bending-actuator-embedded-coiled-muscles},
}

@article{holschuh2015low,
	title={Low spring index NiTi coil actuators for use in active compression garments},
	author={Holschuh, Bradley and Obropta, Edward and Newman, Dava},
	journal={IEEE/ASME Transactions on Mechatronics},
	volume={20},
	number={3},
	pages={1264--1277},
	year={2015},
	publisher={IEEE}
}

@article{karami2017modeling,
	title={Modeling of twisted and coiled polymer (TCP) muscle based on phenomenological approach},
	author={Karami, Farzad and Tadesse, Yonas},
	journal={Smart Materials and Structures},
	volume={26},
	number={12},
	pages={125010},
	year={2017},
	publisher={IOP Publishing}
}




%%%applications of TCA
@article{almubarak2017twisted,
	title={Twisted and coiled polymer (TCP) muscles embedded in silicone elastomer for use in soft robot},
	author={Almubarak, Yara and Tadesse, Yonas},
	journal={International Journal of Intelligent Robotics and Applications},
	volume={1},
	number={3},
	pages={352--368},
	year={2017},
	publisher={Springer}
}
@article{saharan2017igrab,
	title={iGrab: hand orthosis powered by twisted and coiled polymer muscles},
	author={Saharan, Lokesh and de Andrade, Monica Jung and Saleem, Wahaj and Baughman, Ray H and Tadesse, Yonas},
	journal={Smart Materials and Structures},
	volume={26},
	number={10},
	pages={105048},
	year={2017},
	publisher={IOP Publishing}
}
@inproceedings{yip2015high,
	title={High-performance robotic muscles from conductive nylon sewing thread},
	author={Yip, Michael C and Niemeyer, Gunter},
	booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
	pages={2313--2318},
	Address={Seattle, Washington},
	year={2015},
}

@inproceedings{wu2015nylon,
	title={Nylon-muscle-actuated robotic finger},
	author={Wu, Lianjun and de Andrade, Monica Jung and Rome, Richard S and Haines, Carter and Lima, Marcio D and Baughman, Ray H and Tadesse, Yonas},
	booktitle={SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
	pages={94310I--94310I},
	year={2015},
	Address={San Diego, CA},
}
@inproceedings{saharan2016robotic,
	title={Robotic hand with locking mechanism using TCP muscles for applications in prosthetic hand and humanoids},
	author={Saharan, Lokesh and Tadesse, Yonas},
	booktitle={SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
	pages={97970V--97970V},
	year={2016},
	Address={Las Vegas, Nevada},
}
@inproceedings{tomar2016multi,
	title={Multi-layer robot skin with embedded sensors and muscles},
	author={Tomar, Ankit and Tadesse, Yonas},
	booktitle={SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
	pages={979809--979809},
	year={2016},
	Address={ Las Vegas, Nevada},
}
@inproceedings{cho2016robotic,
	title={A robotic finger driven by twisted and coiled polymer actuator},
	author={Cho, Kyeong Ho and Song, Min Geun and Jung, Hosang and Park, Jungwoo and Moon, Hyungpil and Koo, Ja Choon and Nam, Jae-Do and Choi, Hyouk Ryeol},
	booktitle={SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
	pages={97981J--97981J},
	year={2016},
	Address={ Las Vegas, Nevada},
}
@inproceedings{arakawa2016position,
	title={Position control of fishing line artificial muscles (coiled polymer actuators) from nylon thread},
	author={Arakawa, Takeshi and Takagi, Kentaro and Tahara, Kenji and Asaka, Kinji},
	booktitle={SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
	pages={97982W--97982W},
	year={2016},
	Address={ Las Vegas, Nevada},
}
@inproceedings{mirvakili2016bending,
	title={Bending artificial muscle from nylon filaments},
	author={Mirvakili, Seyed M and Hunter, Ian W},
	booktitle={SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
	pages={97981L--97981L},
	year={2016},
	Address={Las Vegas, Nevada},
}
@inproceedings{sutton2016design,
	title={Design of an assistive wrist orthosis using conductive nylon actuators},
	author={Sutton, Lee and Moein, Hadi and Rafiee, Ali and Madden, John DW and Menon, Carlo},
	booktitle={2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
	pages={1074--1079},
	year={2016},
}
@article{li2016design,
	title={Design and simulative experiment of an innovative trailing edge morphing mechanism driven by artificial muscles embedded in skin},
	author={Li, Hongda and Liu, Long and Xiao, Tianhang and Ang, Haisong},
	journal={Smart Materials and Structures},
	volume={25},
	number={9},
	pages={095004},
	year={2016},
	publisher={IOP Publishing}
}
@inproceedings{wu2016deformable,
	title={A deformable robot with tensegrity structure using nylon artificial muscle},
	author={Wu, Lianjun and de Andrade, Monica Jung and Brahme, Tarang and Tadesse, Yonas and Baughman, Ray H},
	booktitle={SPIE Smart Structures and Materials+ Nondestructive Evaluation and Health Monitoring},
	pages={97993K--97993K},
	year={2016},
	organization={International Society for Optics and Photonics}
}









@ARTICLE{OctArm,
author={D. Trivedi and A. Lotfi and C. D. Rahn},
journal={IEEE Transactions on Robotics},
title={Geometrically Exact Models for Soft Robotic Manipulators},
year={2008},
volume={24},
number={4},
pages={773-780},
keywords={elastic deformation;manipulator dynamics;Cosserat rod theory;OctArm V manipulator;air muscle actuators;fiber reinforced model;material nonlinearities effect;soft robotic manipulators;Air muscle actuators;Cosserat rods;soft robots},
doi={10.1109/TRO.2008.924923},
ISSN={1552-3098},
month={Aug},}

@article {stiffControl,
	Title = {Stiffness Control of a Continuum Manipulator in Contact with a Soft Environment},
	Author = {Mahvash, Mohsen and Dupont, Pierre},
	DOI = {10.1109/iros.2010.5650405},
	Volume = {2010},
	Month = {December},
	Year = {2010},
	Journal = {IEEE/RSJ International Conference on Intelligent Robots and Systems},
	ISSN = {2153-0858},
	Pages = {863—870},
}



@INPROCEEDINGS{octo2Cable,
author={M. Giorelli and F. Renda and M. Calisti and A. Arienti and G. Ferri and C. Laschi},
booktitle={2012 IEEE International Conference on Robotics and Automation},
title={A two dimensional inverse kinetics model of a cable driven manipulator inspired by the octopus arm},
year={2012},
pages={3819-3824},
keywords={approximation theory;manipulators;motion control;Jacobian method;cable driven manipulator;continuum geometrically exact approach;cylindrical shaped manipulators;direct kinematics model;inverse kinematics model;inverse kinetics models;nonconstant curvature structure;octopus arm;piecewise constant curvature approximation;prototype soft robot arm;soft material;two dimensional inverse kinetics model;Force;Force sensors;Kinetic theory;Manipulators;Mathematical model;Shape},
doi={10.1109/ICRA.2012.6225254},
ISSN={1050-4729},
month={May},}

@INPROCEEDINGS{multJacobian,
author = {Xu, Ran and Asadian, Ali and S. Naidu, Anish and Patel, Rajni},
year = {2013},
month = {05},
pages = {5813-5818},
title = {Position control of concentric-tube continuum robots using a modified Jacobian-based approach},
isbn = {978-1-4673-5641-1},
booktitle = {Proceedings - IEEE International Conference on Robotics and Automation}
}

@INPROCEEDINGS{fem,
author={C. Duriez},
booktitle={2013 IEEE International Conference on Robotics and Automation},
title={Control of elastic soft robots based on real-time finite element method},
year={2013},
pages={3982-3987},
keywords={actuators;elastic deformation;finite element analysis;iterative methods;robots;FEM;Lagrange multipliers;actuation zones;actuators;control algorithm;elastic behavior;elastic soft robot control;end-effector position;iterative algorithm;nonlinear deformations;parallel structures;real 3D soft robot;real-time finite element method;serial structures;silicone;Actuators;Computational modeling;Deformable models;Finite element analysis;Kinematics;Mathematical model;Robots;Control algorithms;Elastic robots;Finite Element Method (FEM);Mechanical Compliance;Real-time;Soft robots;constraints-based mechanics},
doi={10.1109/ICRA.2013.6631138},
ISSN={1050-4729},
month={May},}

@article{octoConstCurve,
	author = {William McMahan and Bryan Jones and Ian Walker and Vilas Chitrakaran and Arjun Seshadri and Darren Dawson},
	title = {ROBOTIC MANIPULATORS INSPIRED BY CEPHALOPOD LIMBS},
	journal = {Proceedings of the Canadian Engineering Education Association},
	year = {2011},
	keywords = {},
	abstract = {This paper connects the investigation of the biomechanics and behavior of octopus in the performance of a wide range of dexterous manipulations to the creation of octopus arm-like robots. This is achieved via the development of a series of octopus arm models which aid in both explaining the underlying octopus biomechanics and in developing a specification for the design of robotic manipulators. Robotic manipulators which match the key features of these models are then introduced, followed by the development of inverse kinematics for the circular (constant) curvature model.},
	issn = {2371-5243},
	doi = {10.24908/pceea.v0i0.3994},
}

@INPROCEEDINGS{algorithm,
author={D. C. Rucker and R. J. Webster},
booktitle={2011 IEEE International Conference on Robotics and Automation},
title={Computing Jacobians and compliance matrices for externally loaded continuum robots},
year={2011},
pages={945-950},
keywords={Jacobian matrices;compliance control;deformation;initial value problems;manipulator kinematics;nonlinear differential equations;actuation system;arc length parametrized Jacobian matrix;augmented Jacobian matrix;boundary condition;concentric-tube robot;deformation;externally loaded continuum robot;initial value problem;kinematic model;manipulator Jacobian matrices;manipulator compliance matrices;model equation;nonlinear differential equation;numerical integration;robot shape;Actuators;Electron tubes;Jacobian matrices;Kinematics;Load modeling;Mathematical model;Robots},
doi={10.1109/ICRA.2011.5980351},
ISSN={1050-4729},
month={May},}

@ARTICLE{posToStiff,
author={Mahvash, Mohsen and Dupont, Pierre E},
journal={IEEE Transactions on Robotics},
title={Stiffness Control of Surgical Continuum Manipulators},
year={2011},
volume={27},
number={2},
pages={334-345},
keywords={elastic constants;force control;manipulator dynamics;manipulator kinematics;medical robotics;position control;stability;concentric tube robot;continuum robot position controllers;kinematic force model;robot deflection sensing;static force model;stiffness controller;surgical continuum manipulators;Electron tubes;Force;Kinematics;Mathematical model;Robot kinematics;Robot sensing systems;Concentric tube robot;Cosserat rod;continuum robot;kinematics;stiffness control},
doi={10.1109/TRO.2011.2105410},
ISSN={1552-3098},
month={April},}

@INPROCEEDINGS{algoObstacles,
author={A. D. Marchese and R. K. Katzschmann and D. Rus},
booktitle={2014 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={Whole arm planning for a soft and highly compliant 2D robotic manipulator},
year={2014},
pages={554-560},
keywords={manipulator kinematics;optimisation;path planning;confined environment;constrained optimization problems;highly compliant 2D robotic manipulator;inverse kinematics;modular manipulator;motion planning;optimal inverse kinematics;pipe like environment;planner central algorithm;robotic system;soft compliant 2D robotic manipulator;soft continuum manipulators;whole arm planning;Collision avoidance;Kinematics;Manipulators;Optimization;Planning;Rubber},
doi={10.1109/IROS.2014.6942614},
ISSN={2153-0858},
month={Sept},}

@ARTICLE{neuralControl,
author={D. Braganza and D. M. Dawson and I. D. Walker and N. Nath},
journal={IEEE Transactions on Robotics},
title={A Neural Network Controller for Continuum Robots},
year={2007},
volume={23},
number={6},
pages={1270-1277},
keywords={dexterous manipulators;feedforward neural nets;neurocontrollers;redundant manipulators;OCTARM;continuum robot manipulators;continuum robots;dynamic adaptive manipulation;high-performance control algorithms;hyper-redundant robot manipulators;neural network controller;neural network feedforward component;soft extensible continuum manipulator;Continuum robot;feedforward control;neural network;robot control},
doi={10.1109/TRO.2007.906248},
ISSN={1552-3098},
month={Dec},}

@ARTICLE{goalBabbling,
author={M. Rolf and J. J. Steil},
journal={IEEE Transactions on Neural Networks and Learning Systems},
title={Efficient Exploratory Learning of Inverse Kinematics on a Bionic Elephant Trunk},
year={2014},
volume={25},
number={6},
pages={1147-1160},
keywords={feedback;learning (artificial intelligence);manipulator kinematics;statistical analysis;bionic elephant trunk;bionic handling assistant;drifting sensors;elephant trunk robot;exploration scheme;exploratory learning;feedback control;functioning control concept;goal-directed bootstrapping schemes;inverse kinematics;morphological changes;nonstationary actuation ranges;nonstationary robot;online goal babbling;Accuracy;Actuators;Bellows;Inverse problems;Kinematics;Robot sensing systems;Bionic handling assistant (BHA);continuum robot;goal babbling;inverse kinematics;inverse kinematics.},
doi={10.1109/TNNLS.2013.2287890},
ISSN={2162-237X},
month={June},}

@ARTICLE{constCurve,
author={B. A. Jones and I. D. Walker},
journal={IEEE Transactions on Robotics},
title={Kinematics for multisection continuum robots},
year={2006},
volume={22},
number={1},
pages={43-55},
keywords={manipulator kinematics;shape control;actuator inputs;continuous backbone robots;multisection continuum robot kinematics;physical manipulator constraints;pneumatic pressures;robot shape coordinates;shape control;spatial multisection continuum manipulators;tendon lengths;workspace Cartesian coordinates;Hardware;Legged locomotion;Manipulators;Medical robotics;Pneumatic actuators;Robot kinematics;Robot sensing systems;Shape control;Spine;Tendons;Biologically inspired robots;continuum robot;kinematics;tentacle;trunk},
doi={10.1109/TRO.2005.861458},
ISSN={1552-3098},
month={Feb},}

@article{inverseTrunk,
author = { Srinivas   Neppalli  and  Matthew A.   Csencsits  and  Bryan A.   Jones  and  Ian D.   Walker },
title = {Closed-Form Inverse Kinematics for Continuum Manipulators},
journal = {Advanced Robotics},
volume = {23},
number = {15},
pages = {2077-2091},
year = {2009},
doi = {10.1163/016918609X12529299964101},


eprint = { 
        http://dx.doi.org/10.1163/016918609X12529299964101
    
}

}

@INPROCEEDINGS{visualGuide,
author={H. Su and D. C. Cardona and W. Shang and A. Camilo and G. A. Cole and D. C. Rucker and R. J. Webster and G. S. Fischer},
booktitle={2012 IEEE International Conference on Robotics and Automation},
title={A MRI-guided concentric tube continuum robot with piezoelectric actuation: A feasibility study},
year={2012},
pages={1939-1945},
keywords={biomedical MRI;medical robotics;motion control;robot vision;6 degree-of-freedom robotic device;MR image-guided placement;MRI compatibility;MRI-guided concentric tube continuum robot;Tesla MRI;clinical applications;curved steerable active cannula;image quality degradation;image-guided neurosurgery;kinematic model;magnetic resonance imaging compatible concentric tube continuum robotic system;percutaneous interventions;piezoelectric actuation;precision motion;robotic motion;standard prostate imaging sequences;Electron tubes;Kinematics;Magnetic resonance imaging;Needles;Robot kinematics;Active cannula;Concentric tube continuum robot;Image-guided needle placement;MRI-compatible robot;Percutaneous interventions;Stereotactic surgery},
doi={10.1109/ICRA.2012.6224550},
ISSN={1050-4729},
month={May},}

@ARTICLE{algoTangle,
author={B. A. Jones and I. D. Walker},
journal={IEEE Transactions on Robotics},
title={Practical Kinematics for Real-Time Implementation of Continuum Robots},
year={2006},
volume={22},
number={6},
pages={1087-1099},
keywords={manipulator kinematics;continuum manipulators;finite actuation mechanisms;multisection tendon-actuated continuum robots;practical kinematics;Actuators;Arm;Hardware;Joints;Kinematics;Legged locomotion;Manipulators;Orbital robotics;Robot control;Shape;Biologically inspired robots;continuum robot;kinematics;tentacle;trunk},
doi={10.1109/TRO.2006.886268},
ISSN={1552-3098},
month={Dec},}

@ARTICLE{medicalCable,
author={D. B. Camarillo and C. R. Carlson and J. K. Salisbury},
journal={IEEE Transactions on Robotics},
title={Configuration Tracking for Continuum Manipulators With Coupled Tendon Drive},
year={2009},
volume={25},
number={4},
pages={798-808},
keywords={biological tissues;catheters;flexible manipulators;manipulator kinematics;medical robotics;cardiac catheter;configuration tracking;continuum manipulator;coupled tendon drive;decoupled inverse kinematics;flexible device;forward kinematics;geometrical coupling;linear beam configuration;mechanical coupling;medical procedure;robotic control;shape configuration;tendon displacement;Cable drive;continuum robot;flexible arm;medical robot},
doi={10.1109/TRO.2009.2022426},
ISSN={1552-3098},
month={Aug},}

@INPROCEEDINGS{enviroContact,
author={R. E. Goldman and A. Bajo and N. Simaan},
booktitle={2011 IEEE International Conference on Robotics and Automation},
title={Compliant motion control for continuum robots with intrinsic actuation sensing},
year={2011},
pages={1126-1132},
keywords={actuators;compliance control;medical robotics;motion control;path planning;robust control;surgery;uncertain systems;closed-form analytic expression;compliant motion control;deep surgical sites;external wrenches;generalized force;intrinsic actuation sensing;minimally invasive surgical paradigms;robust controller;safe instrument insertion;single-stage multibackbone continuum robot;stiffness definitions;surgical robots;Aerospace electronics;Force;Kinematics;Motion control;Robot sensing systems;Uncertainty},
doi={10.1109/ICRA.2011.5980000},
ISSN={1050-4729},
month={May},}

@ARTICLE{externalTendon,
author={D. C. Rucker and R. J. Webster III},
journal={IEEE Transactions on Robotics},
title={Statics and Dynamics of Continuum Robots With General Tendon Routing and External Loading},
year={2011},
volume={27},
number={6},
pages={1033-1044},
keywords={actuators;loading;robot dynamics;Cosserat rod models;Cosserat string models;actuation strategy;axially routed tendons;base mounted actuators;continuum robots;external loading;general tendon routing;robot dynamics;robot statics;straight tendon robots;Kinematics;Load modeling;Mathematical model;Robot kinematics;Continuum robot;cosserat rod;flexible arms;tendon actuation},
doi={10.1109/TRO.2011.2160469},
ISSN={1552-3098},
month={Dec},}

@INPROCEEDINGS{tca,
author={A. Abbas and J. Zhao},
booktitle={2017 IEEE International Conference on Robotics and Automation (ICRA)},
title={A physics based model for twisted and coiled actuator},
year={2017},
pages={6121-6126},
keywords={closed loop systems;coils;electroactive polymer actuators;pneumatic actuators;robots;TCA;artificial muscle-twisted and coiled actuator;closed-loop control;dynamic response;material property;physics based model;robotic application;Actuators;Dynamics;Force;Muscles;Robots;Temperature;Torque},
doi={10.1109/ICRA.2017.7989726},
month={May},}



@INPROCEEDINGS{octoLearn,
author={M. Giorelli and F. Renda and G. Ferri and C. Laschi},
booktitle={2013 IEEE/RSJ International Conference on Intelligent Robots and Systems},
title={A feed-forward neural network learning the inverse kinetics of a soft cable-driven manipulator moving in three-dimensional space},
year={2013},
pages={5033-5039},
keywords={Jacobian matrices;feedforward neural nets;force control;inverse problems;learning systems;manipulator kinematics;motion control;neurocontrollers;nonlinear differential equations;position control;3D space movement;FNN;Jacobian matrix;arm length;exact geometrical model;feed-forward neural network learning;inverse kinetics problem;manipulator tip position;mechanical model;nonconstant curvature manipulator;nonlinear differential equations;soft cable-driven manipulator;soft manipulator;Equations;Jacobian matrices;Kinetic theory;Manipulators;Mathematical model;Neural networks;Shape},
doi={10.1109/IROS.2013.6697084},
ISSN={2153-0858},
month={Nov},}

@article{octoForward,
  author={F Renda and M Cianchetti and M Giorelli and A Arienti and C Laschi},
  title={A 3D steady-state model of a tendon-driven continuum soft manipulator inspired by the octopus arm},
  journal={Bioinspiration \& Biomimetics},
  volume={7},
  number={2},
  pages={025006},
  year={2012},
  abstract={Control and modelling of continuum robots are challenging tasks for robotic researchers. Most works on modelling are limited to piecewise constant curvature. In many cases they neglect to model the actuators or avoid a continuum approach. In particular, in the latter case this leads to a complex model hardly implemented. In this work, a geometrically exact steady-state model of a tendon-driven manipulator inspired by the octopus arm is presented. It takes a continuum approach, fast enough to be implemented in the control law, and includes a model of the actuation system. The model was experimentally validated and the results are reported. In conclusion, the model presented can be used as a tool for mechanical design of continuum tendon-driven manipulators, for planning control strategies or as internal model in an embedded system.}
}

@ARTICLE{tcaSensing,
author={J. van der Weijde and B. Smit and M. Fritschi and C. van de Kamp and H. Vallery},
journal={IEEE/ASME Transactions on Mechatronics},
title={Self-Sensing of Deflection, Force, and Temperature for Joule-Heated Twisted and Coiled Polymer Muscles via Electrical Impedance},
year={2017},
volume={22},
number={3},
pages={1268-1275},
keywords={bioelectric phenomena;biomedical measurement;biothermics;coils;electric impedance measurement;force sensors;muscle;polymers;temperature sensors;Joule-heated coiled polymer muscle;Joule-heated twisted polymer muscle;deflection self-sensing;electrical impedance;force self-sensing;temperature self-sensing;Actuators;Force;Muscles;Polymers;Resistance;Sensors;Wires;Artificial muscle;compliant actuator;deflection;impedance;inductance;integrated sensing;self-sensing},
doi={10.1109/TMECH.2016.2642588},
ISSN={1083-4435},
month={June},}

@ARTICLE{reviewMed,
author={J. Burgner-Kahrs and D. C. Rucker and H. Choset},
journal={IEEE Transactions on Robotics},
title={Continuum Robots for Medical Applications: A Survey},
year={2015},
volume={31},
number={6},
pages={1261-1280},
keywords={manipulators;medical robotics;surgery;continuum robot manipulator;curvilinear path;medical robotic;rigid-link robot;robotics science;surgical robot;Manipulators;Medical robotics;Robot kinematics;Robot sensing systems;Surgery;Continuous robot manipulator;continuum robot;hyper-redundant robot;robot-assisted surgery;soft robotics;surgical robotics},
doi={10.1109/TRO.2015.2489500},
ISSN={1552-3098},
month={Dec},}




@article{reviewConst,
author = {Robert J. Webster, III and Bryan A. Jones},
title = {Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review},
journal = {The International Journal of Robotics Research},
volume = {29},
number = {13},
pages = {1661-1683},
year = {2010},
doi = {10.1177/0278364910368147},


eprint = { 
        https://doi.org/10.1177/0278364910368147
    
}
,
    abstract = { Continuum robotics has rapidly become a rich and diverse area of research, with many designs and applications demonstrated. Despite this diversity in form and purpose, there exists remarkable similarity in the fundamental simplified kinematic models that have been applied to continuum robots. However, this can easily be obscured, especially to a newcomer to the field, by the different applications, coordinate frame choices, and analytical formalisms employed. In this paper we review several modeling approaches in a common frame and notational convention, illustrating that for piecewise constant curvature, they produce identical results. This discussion elucidates what has been articulated in different ways by a number of researchers in the past several years, namely that constant-curvature kinematics can be considered as consisting of two separate submappings: one that is general and applies to all continuum robots, and another that is robot-specific. These mappings are then developed both for the single-section and for the multi-section case. Similarly, we discuss the decomposition of differential kinematics (the robot’s Jacobian) into robot-specific and robot-independent portions. The paper concludes with a perspective on several of the themes of current research that are shaping the future of continuum robotics. }
}

@article {tcaScience,
	author = {Haines, Carter S. and Lima, M{\'a}rcio D. and Li, Na and Spinks, Geoffrey M. and Foroughi, Javad and Madden, John D. W. and Kim, Shi Hyeong and Fang, Shaoli and Jung de Andrade, M{\^o}nica and G{\"o}ktepe, Fatma and G{\"o}ktepe, {\"O}zer and Mirvakili, Seyed M. and Naficy, Sina and Lepr{\'o}, Xavier and Oh, Jiyoung and Kozlov, Mikhail E. and Kim, Seon Jeong and Xu, Xiuru and Swedlove, Benjamin J. and Wallace, Gordon G. and Baughman, Ray H.},
	title = {Artificial Muscles from Fishing Line and Sewing Thread},
	volume = {343},
	number = {6173},
	pages = {868--872},
	year = {2014},
	doi = {10.1126/science.1246906},
	publisher = {American Association for the Advancement of Science},
	abstract = {In designing materials for artificial muscles, the goals are to find those that will combine high strokes, high efficiency, long cycle life, low hysteresis, and low cost. Now, Haines et al. (p. 868; see the Perspective by Yuan and Poulin) show that this is possible. Twisting high-strength, readily available polymer fibers, such as those used for fishing lines or sewing thread, to the point where they coil up, allowed construction of highly efficient actuators that could be triggered by a number of stimuli. The high cost of powerful, large-stroke, high-stress artificial muscles has combined with performance limitations such as low cycle life, hysteresis, and low efficiency to restrict applications. We demonstrated that inexpensive high-strength polymer fibers used for fishing line and sewing thread can be easily transformed by twist insertion to provide fast, scalable, nonhysteretic, long-life tensile and torsional muscles. Extreme twisting produces coiled muscles that can contract by 49\%, lift loads over 100 times heavier than can human muscle of the same length and weight, and generate 5.3 kilowatts of mechanical work per kilogram of muscle weight, similar to that produced by a jet engine. Woven textiles that change porosity in response to temperature and actuating window shutters that could help conserve energy were also demonstrated. Large-stroke tensile actuation was theoretically and experimentally shown to result from torsional actuation.},
	issn = {0036-8075},
	eprint = {http://science.sciencemag.org/content/343/6173/868.full.pdf},
	journal = {Science}
}

@article{controlTCA,
  title={On the Control and Properties of Supercoiled Polymer Artificial Muscles},
  author={Yip, Michael C and Niemeyer, G{\"u}nter},
  journal={IEEE Transactions on Robotics},
  year={2017},
  publisher={IEEE}
}

@ARTICLE{smaWorm,
author={S. Seok and C. D. Onal and K. J. Cho and R. J. Wood and D. Rus and S. Kim},
journal={IEEE/ASME Transactions on Mechatronics},
title={Meshworm: A Peristaltic Soft Robot With Antagonistic Nickel Titanium Coil Actuators},
year={2013},
volume={18},
number={5},
pages={1485-1497},
keywords={closed loop systems;elasticity;electroactive polymer actuators;energy consumption;flexible structures;mobile robots;net structures (mechanical);nickel alloys;robot kinematics;shape memory effects;springs (mechanical);titanium alloys;NiTi;SMA material;antagonistic nickel titanium coil actuators;circular muscle antagonistic arrangement;closed-loop controllers;energy consumption;energy sources;external impact;flexible braided mesh-tube structure;flexible control unit;flexible mesh materials;locomotion speed;longitudinal muscle antagonistic arrangement;martensite deformation;mesh structures numerical model;meshworm;nickel titanium coil spring;oligochaetes;peristaltic actuation;peristaltic locomotion modes;peristaltic soft robot;proprioceptive potentiometers;segment contraction sensing;sequential antagonistic motion;soft robotic platform;spring elasticity;steering capabilities;Actuators;Annealing;Coils;Mathematical model;Robots;Springs;Wires;Bioinspired robotics;earthworm robot;nickel titanium (NiTi) coil springs;peristaltic locomotion;shape memory alloy (SMA) actuation;soft robotics},
doi={10.1109/TMECH.2012.2204070},
ISSN={1083-4435},
month={Oct},}

@inproceedings{smaCrawl,
  title={Highly deformable 3-d printed soft robot generating inching and crawling locomotions with variable friction legs},
  author={Umedachi, Takuya and Vikas, Vishesh and Trimmer, Barry A},
  booktitle={Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on},
  pages={4590--4595},
  year={2013},
  organization={IEEE}
}

@article{smaGOQ,
  title={GoQBot: a caterpillar-inspired soft-bodied rolling robot},
  author={Lin, Huai-Ti and Leisk, Gary G and Trimmer, Barry},
  journal={Bioinspiration \& biomimetics},
  volume={6},
  number={2},
  pages={026007},
  year={2011},
  publisher={IOP Publishing}
}

@ARTICLE{deaFold,
author={J. Shintake and S. Rosset and B. E. Schubert and D. Floreano and H. R. Shea},
journal={IEEE/ASME Transactions on Mechatronics},
title={A Foldable Antagonistic Actuator},
year={2015},
volume={20},
number={5},
pages={1997-2008},
keywords={actuators;aircraft control;controllability;elastomers;motion control;MAV;MAV motion;actuator concept;angular displacement range;antagonistic actuation;controllability;design parameter;dielectric elastomers;elastic hinges;foldable antagonistic actuator;foldable elevon actuator;passive folding;torque specification;wingspan microair vehicle;Actuators;Electrodes;Fasteners;Geometry;Robots;Stress;Torque;Antagonistic;artificial muscle;dielectric elastomer actuators (DEAs);foldable actuator;micro air vehicle},
doi={10.1109/TMECH.2014.2359337},
ISSN={1083-4435},
month={Oct},}

@article {deaHeal,
	author = {Acome, E. and Mitchell, S. K. and Morrissey, T. G. and Emmett, M. B. and Benjamin, C. and King, M. and Radakovitz, M. and Keplinger, C.},
	title = {Hydraulically amplified self-healing electrostatic actuators with muscle-like performance},
	volume = {359},
	number = {6371},
	pages = {61--65},
	year = {2018},
	doi = {10.1126/science.aao6139},
	publisher = {American Association for the Advancement of Science},
	abstract = {Dielectric elastomer actuators are electrically powered muscle mimetics that offer high actuation strain and high efficiency but are limited by failure caused by high electric fields and aging. Acome et al. used a liquid dielectric, rather than an elastomeric polymer, to solve a problem of catastrophic failure in dielectric elastomer actuators. The dielectric{\textquoteright}s liquid nature allowed it to self-heal{\textemdash}something that would not be possible with a solid dielectric. The approach allowed the authors to exploit electrostatic and hydraulic forces to achieve muscle-like contractions in a powerful but delicate gripper.Science, this issue p. 61Existing soft actuators have persistent challenges that restrain the potential of soft robotics, highlighting a need for soft transducers that are powerful, high-speed, efficient, and robust. We describe a class of soft actuators, termed hydraulically amplified self-healing electrostatic (HASEL) actuators, which harness a mechanism that couples electrostatic and hydraulic forces to achieve a variety of actuation modes. We introduce prototypical designs of HASEL actuators and demonstrate their robust, muscle-like performance as well as their ability to repeatedly self-heal after dielectric breakdown{\textemdash}all using widely available materials and common fabrication techniques. A soft gripper handling delicate objects and a self-sensing artificial muscle powering a robotic arm illustrate the wide potential of HASEL actuators for next-generation soft robotic devices.},
	issn = {0036-8075},
	eprint = {http://science.sciencemag.org/content/359/6371/61.full.pdf},
	journal = {Science}
}

@article{deaAnnelid,
  title={Artificial annelid robot driven by soft actuators},
  author={Jung, Kwangmok and Koo, Ja Choon and Lee, Young Kwan and Choi, Hyouk Ryeol and others},
  journal={Bioinspiration \& biomimetics},
  volume={2},
  number={2},
  pages={S42},
  year={2007},
  publisher={IOP Publishing}
}

@article{ipmcReview,
  title={Ionic polymer-metal composites (IPMCs) as biomimetic sensors, actuators and artificial muscles-a review},
  author={Shahinpoor, Mohsen and Bar-Cohen, Yoseph and Simpson, JO and Smith, J},
  journal={Smart materials and structures},
  volume={7},
  number={6},
  pages={R15},
  year={1998},
  publisher={IOP Publishing}
}

@article{ipmcJellyfish,
  title={A biomimetic jellyfish robot based on ionic polymer metal composite actuators},
  author={Yeom, Sung-Weon and Oh, Il-Kwon},
  journal={Smart materials and structures},
  volume={18},
  number={8},
  pages={085002},
  year={2009},
  publisher={IOP Publishing}
}

@inproceedings{ipmcSnake,
  title={A snake-like swimming robot using IPMC actuator/sensor},
  author={Kamamichi, Norihiro and Yamakita, Masaki and Asaka, Kinji and Luo, Zhi-Wei},
  booktitle={Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on},
  pages={1812--1817},
  year={2006},
  organization={IEEE}
}

@article{ecoProp,
  title={Use of silicone materials to simulate tissue biomechanics as related to deep tissue injury},
  author={Sparks, Jessica L and Vavalle, Nicholas A and Kasting, Krysten E and Long, Benjamin and Tanaka, Martin L and Sanger, Phillip A and Schnell, Karen and Conner-Kerr, Teresa A},
  journal={Advances in skin \& wound care},
  volume={28},
  number={2},
  pages={59--68},
  year={2015},
  publisher={LWW}
}


@article{yang2016top,
  title={A top-down multi-scale modeling for actuation response of polymeric artificial muscles},
  author={Yang, Qianxi and Li, Guoqiang},
  journal={Journal of the Mechanics and Physics of Solids},
  volume={92},
  pages={237--259},
  year={2016},
  publisher={Elsevier}
}