Linear and Nonlinear Low Level Control of a Soft Pneumatic Actuator. - Serhat Ibrahim; Jan Christoph Krause; Annika Raatz (RoboSoft, 2019)

Modeling and Reconstruction of State Variables for Low-Level Control of Soft Pneumatic Actuators. - Serhat Ibrahim; Jan Christoph Krause; Alexander Olbrich; Annika Raatz (Frontiers Robotics AI, 2021)

Design and characterisation of a multi-DOF soft pneumatic module. - Israel Santacruz-Mondragon; X. Yamile Sandoval-Castro; Serhat Ibrahim; Mats Wiese; Annika Raatz; Maximiano F. Ruiz-Torres; Eduardo Castillo Castañeda (Robotica, 2023)