Design optimisation of soft silicone pneumatic actuators using finite element analysis. - Yahya Elsayed; Constantina Lekakou; Tao Geng; Chakravarthini M. Saaj (AIM, 2014)

A new coefficient-adaptive orthonormal basis function model structure for identifying a class of pneumatic soft actuators. - Xiaochen Wang; Tao Geng; Yahya Elsayed; Tommaso Ranzani; Chakravarthini M. Saaj; Constantina Lekakou (IROS, 2014)

Tuneable Stiffness Design of Soft Continuum Manipulator. - Seri Mastura Mustaza; Duale Mahdi; Chakravarthini M. Saaj; Wissam A. Albukhanajer; Constantina Lekakou; Yahya Elsayed; Jan Fras (ICIRA (3), 2015)

A unified system identification approach for a class of pneumatically-driven soft actuators. - Xiaochen Wang; Tao Geng; Yahya Elsayed; Chakravarthini M. Saaj; Constantina Lekakou (Robotics Auton. Syst., 2015)

A Material-Based Model for the Simulation and Control of Soft Robot Actuator. - Constantina Lekakou; Seri Mastura Mustaza; Tom Crisp; Yahya Elsayed; Chakravarthini M. Saaj (TAROS, 2017)