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The soft robotics approach is widely considered to enable human-friendly robots which are able to work in our future homes and factories. Furthermore, achieving the smooth and natural movements of humans has become a hot topic in robotics, especially when robots are supposed to work in close proximity to humans. The anthropomimetic principle aims at mimicking not only the outside but also the inner mechanisms of the human body in humanoid robots. However, for this class of robots there exist asdoi:10.1109/iros.2012.6385851 dblp:conf/iros/JantschWDK12 fatcat:6gbste4wh5ayfi7fcojmnz5xlu