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Recent advances in robotic systems have increased the need for various kinds of robots in many fields, such as aerospace and medical. Utilizing hard robots in such fields can cause irrecoverable damages; therefore, scientists have taken inspiration from nature to build robots with soft bodies. In this article, a soft pneumatic actuator that reshapes in the x-y plane is controlled. This continuous soft robot uses air pressure as actuation to control the end point position of the robot through curvature motion, and the force applied to a
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