@article {540501,
	title = {A Soft and Controllable Stiffness Manipulator for Minimally Invasive Surgery: Preliminary characterization of the modular design},
	journal = {IEEE Engineering in Medicine and Biology Society},
	year = {2014},
	abstract = {This paper presents a soft modular manipulator for Minimally Invasive Surgery (MIS). The robot takes inspiration from the capabilities of the biological octopus arm. Flexible fluidic actuators allow omni-directional bending and elongation, while a granular jamming mechanism permits to control the arm stiffness up to a Young Modulus of 0.91 MPa. The modular design and its stiffness evaluation are reported. },
	url = {http://www.researchgate.net/publication/265864928_A_soft_and_controllable_stiffness_manipulator_for_minimally_invasive_surgery_preliminary_characterization_of_the_modular_design},
	author = {Iris De Falco and Matteo Cianchetti and Arianna Menciassi}
}
