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We also design a multi-input multi-output (MIMO) controller that directly adjusts the pressure of the STSR\u2019s three pneumatic chambers to precisely control its posture. Both the novel modeling methodology and MIMO control system are implemented and validated on the proposed STSR prototype.<\/jats:p>","DOI":"10.1088\/1748-3190\/ad1c87","type":"journal-article","created":{"date-parts":[[2024,1,9]],"date-time":"2024-01-09T22:44:50Z","timestamp":1704840290000},"page":"026003","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":4,"title":["Kinematics, dynamics and control of stiffness-tunable soft robots"],"prefix":"10.1088","volume":"19","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8436-4925","authenticated-orcid":true,"given":"Zhipeng","family":"Liu","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Linsen","family":"Xu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiang","family":"Sui","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Tao","family":"Wu","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Gen","family":"Chen","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"266","published-online":{"date-parts":[[2024,1,19]]},"reference":[{"key":"bbad1c87bib1","doi-asserted-by":"publisher","DOI":"10.1088\/1748-3190\/acbb48","article-title":"Perspective for soft robotics: the field\u2019s past and future","volume":"18","author":"Tauber","year":"2023","journal-title":"Bioinspir. 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