@article {920686,
	title = {Modeling, Design, and Development of Soft Pneumatic Actuators with Finite Element Method},
	journal = {Advanced Engineering Materials},
	year = {2015},
	abstract = {\&nbsp;This work presents a comprehensive open-source simulation and design tool for Soft pneumatic actuators (SPAs) using finite element method, compatible and extensible to a diverse range of soft materials and design parameters. Thorough characterization of the hyperelastic and viscoelastic behavior is illustrated using a sample soft material (Ecoflex 00_30), and an appropriate material constitutive law. SPA performance (displacement and blocked-force) are simulated for two types of SPA and validated with experimental testing. Real-world case studies are presented in which SPA designs are iteratively optimized through simulation to meet specified performance criteria and geometric constraints.\&nbsp;},
	url = {http://onlinelibrary.wiley.com/doi/10.1002/adem.201500503/abstract},
	author = {Moseley, Philip and Florez, Juan Manuel and Sonar, Harshal Arun and Agarwal, Gunjan and Curtin, William and Paik, Jamie}
}
