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Owing to their compliance with most shapes, soft actuators are regarded as cost-effective solutions for grasping irregular objects. The material properties of nonlinear elastic polymers are considered necessary for the correct implementation of these actuators. The analysis tends to be complex even for simple movements defined by theoretically infinite degrees of freedom. This study offers a mathematical model that outlines a relationship between the energy provided by a pressure source and thedoi:10.3390/act11080221 fatcat:fp2hw3zkkjcaxcyc7s73xoejze