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However, it faces challenges such as the tendency to suddenly and unpredictably deviate in bending plane orientation at higher pressures. In this work, we identified the cause of this deviation as the buckling of the partition wall and proposed design alternatives along with their manufacturing process to address the problem without compromising the original design features. In both simulation and experiment, the novel design managed to achieve a better bending performance in terms of stiffness and reduced deviation of the bending plane. We also developed an artificial neural network-based inverse kinematics model to further improve the performance of the prototype during vectorization. This approach yielded mean absolute errors in orientation of the bending plane below <jats:inline-formula><jats:alternatives><jats:inline-graphic xmlns:xlink=\"http:\/\/www.w3.org\/1999\/xlink\" mime-subtype=\"png\" xlink:href=\"S0263574724001656_inline1.png\"\/><jats:tex-math>\n$5^{\\circ }$\n<\/jats:tex-math><\/jats:alternatives><\/jats:inline-formula>.<\/jats:p>","DOI":"10.1017\/s0263574724001656","type":"journal-article","created":{"date-parts":[[2024,10,10]],"date-time":"2024-10-10T12:27:30Z","timestamp":1728563250000},"page":"3803-3818","source":"Crossref","is-referenced-by-count":1,"title":["A novel morphing soft robot design to minimize deviations"],"prefix":"10.1017","volume":"42","author":[{"given":"Varell","family":"Ferrandy","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Arnau","family":"Garriga-Casanovas","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Enrico","family":"Franco","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Indrawanto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Ferdinando","family":"Rodriguez y Baena","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Andi 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