D. Rus, M.T. Tolley, Design, fabrication and control of soft robots, Nature, 521(7553) (2015) 467-475.
 D. Trivedi, C.D. Rahn, W.M. Kier, I.D. Walker, Soft robotics: Biological inspiration, state of the art, and future research, Applied bionics and biomechanics, 5(3) (2008) 99-117.
 F. Connolly, C.J. Walsh, K. Bertoldi, Automatic design of fiber-reinforced soft actuators for trajectory matching, Proceedings of the National Academy of Sciences, 114(1) (2017) 51-56.
 K.C. Galloway, P. Polygerinos, C.J. Walsh, R.J. Wood, Mechanically programmable bend radius for fiber-reinforced soft actuators, in: 2013 16th International Conference on Advanced Robotics (ICAR), IEEE, 2013, pp. 1-6.
 P. Polygerinos, Z. Wang, J.T. Overvelde, K.C. Galloway, R.J. Wood, K. Bertoldi, C.J. Walsh, Modeling of soft fiber-reinforced bending actuators, IEEE Transactions on Robotics, 31(3) (2015) 778-789.
 J. Zhang, H. Wang, J. Tang, H. Guo, J. Hong, Modeling and design of a soft pneumatic finger for hand rehabilitation, in: 2015 IEEE International Conference on Information and Automation, IEEE, 2015, pp. 2460-2465.
 V. Falkenhahn, A. Hildebrandt, R. Neumann, O. Sawodny, Dynamic control of the bionic handling assistant, IEEE/ASME Transactions on Mechatronics, 22(1) (2016) 6-17.
 A. Melingui, J.J.-B.M. Ahanda, O. Lakhal, J.B. Mbede, R. Merzouki, Adaptive algorithms for performance improvement of a class of continuum manipulators, IEEE Transactions on Systems, Man, and Cybernetics: Systems, 48(9) (2017) 1531-1541.
 W. Felt, Sensing Methods for Soft Robotics, PH.D. Thesis, University of Michigan, 2017.
 B.A. Jones, I.D. Walker, Kinematics for multisection continuum robots, IEEE Transactions on Robotics, 22(1) (2006) 43-55.
 R.J. Webster III, B.A. Jones, Design and kinematic modeling of constant curvature continuum robots: A review, The International Journal of Robotics Research, 29(13) (2010) 1661-1683.
 C. Escande, T. Chettibi, R. Merzouki, V. Coelen, P.M. Pathak, Kinematic calibration of a multisection bionic manipulator, IEEE/ASME transactions on mechatronics, 20(2) (2014) 663-674.
 C. Escande, P.M. Pathak, R. Merzouki, V. Coelen, Modelling of multisection bionic manipulator: Application to robotinoxt, in: 2011 IEEE International Conference on Robotics and Biomimetics, IEEE, 2011, pp. 92-97.
 M. Rolf, J.J. Steil, Constant curvature continuum kinematics as fast approximate model for the Bionic Handling Assistant, in: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2012, pp. 3440-3446.
 I.S. Godage, D.T. Branson, E. Guglielmino, G.A. Medrano-Cerda, D.G. Caldwell, Shape function-based kinematics and dynamics for variable length continuum robotic arms, in: 2011 IEEE International Conference on Robotics and Automation, IEEE, 2011, pp. 452-457.
 I.S. Godage, E. Guglielmino, D.T. Branson, G.A. Medrano-Cerda, D.G. Caldwell, Novel modal approach for kinematics of multisection continuum arms, in: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2011, pp. 1093-1098.
 T. Mahl, A. Hildebrandt, O. Sawodny, A variable curvature continuum kinematics for kinematic control of the bionic handling assistant, IEEE transactions on robotics, 30(4) (2014) 935-949.
 W. Felt, M.J. Telleria, T.F. Allen, G. Hein, J.B. Pompa, K. Albert, C.D. Remy, An inductance-based sensing system for bellows-driven continuum joints in soft robots, Autonomous robots, 43(2) (2019) 435-448.
 Z. Gong, J. Cheng, X. Chen, W. Sun, X. Fang, K. Hu, Z. Xie, T. Wang, L. Wen, A Bio-inspired Soft Robotic Arm: Kinematic Modeling and Hydrodynamic Experiments, Journal of Bionic Engineering, 15(2) (2018) 204-219.
 A. Chawla, C. Frazelle, I. Walker, A Comparison of Constant Curvature Forward Kinematics for Multisection Continuum Manipulators, in: 2018 Second IEEE International Conference on Robotic Computing (IRC), IEEE, 2018, pp. 217-223.
 S. Neppalli, M.A. Csencsits, B.A. Jones, I.D. Walker, Closed-form inverse kinematics for continuum manipulators, Advanced Robotics, 23(15) (2009) 2077-2091.
 O. Lakhal, A. Melingui, A. Chibani, C. Escande, R. Merzouki, Inverse kinematic modeling of a class of continuum bionic handling arm, in: 2014 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, IEEE, 2014, pp. 1337-1342.
 O. Lakhal, A. Melingui, R. Merzouki, Hybrid approach for modeling and solving of kinematics of a compact bionic handling assistant manipulator, IEEE/ASME Transactions on Mechatronics, 21(3) (2015) 1326-1335.
 A. Amouri, C. Mahfoudi, A. Zaatri, O. Lakhal, R. Merzouki, A metaheuristic approach to solve inverse kinematics of continuum manipulators, Proceedings of the Institution of Mechanical Engineers, Part I: Journal of Systems and Control Engineering, 231(5) (2017) 380-394.
 Z. Gong, J. Cheng, K. Hu, T. Wang, L. Wen, An inverse kinematics method of a soft robotic arm with three-dimensional locomotion for underwater manipulation, in: 2018 IEEE International Conference on Soft Robotics (RoboSoft), IEEE, 2018, pp. 516-521.
 C. Della Santina, R.K. Katzschmann, A. Biechi, D. Rus, Dynamic control of soft robots interacting with the environment, in: 2018 IEEE International Conference on Soft Robotics (RoboSoft), IEEE, 2018, pp. 46-53.
 S. Akbari, Kinematic Modeling of a Spatial Soft Robot by an Improved Analytical Method Based on Serial Robots, B. Sc. Project, Amirkabir University of Technology (Tehran Polytechnic), 2019. (in Persian)