Modeling of a two-degree-of-freedom fiber-reinforced soft pneumatic actuator. - Varell Ferrandy; Indrawanto; Ferryanto; Arif Sugiharto; Enrico Franco; Arnau Garriga-Casanovas; Andi I. Mahyuddin; Ferdinando Rodriguez y Baena; Sandro Mihradi; Vani Virdyawan (Robotica, 2023)