@article {484841,
	title = {Automatic design of fiber-reinforced soft actuators for trajectory matching},
	journal = {Proceedings of the National Academy of Sciences of the United States of America},
	volume = {114},
	year = {2017},
	pages = {51-56},
	author = {Fionnuala Connolly and Conor J. Walsh and Katia Bertoldi}
}
