Yin H B, Zhang X T, Li J F and Cao J G. Grasping Model and Experiment of a Soft Robot Gripper with Variable Stiffness. 8th IEEE International Conference on Cybernetics and Intelligent Systems (CIS) and the 8th IEEE International Conference on Robotics, Automation and Mechatronics (RAM), 19 to 21 November 2017,Ningbo.