Accounting for the Interaction Between a Dummy Finger and Joint Modular Soft Actuators for Multi-Joint Support Using a Novel FEM-Based Approach. - Pablo Enrique Tortós Vinocour; Shota Kokubu; Fuko Matsunaga; Yuxi Lu 002; Zhongchao Zhou; Naoki Kamijo; María Cordero-Alvarado; José Gómez-Tames; Wenwei Yu (IEEE Robotics Autom. Lett., 2026)