# A Modular Geometrical Framework for Modelling the Force-Contraction Profile of Vacuum-Powered Soft Actuators

> Research article (Frontiers in Robotics and AI, 2021) · cited 16× · AI/ML

**Wikidata**: [openalex:W3134918036](https://www.wikidata.org/wiki/openalex:W3134918036)  
**Source**: https://4ort.xyz/entity/a-modular-geometrical-framework-for-modelling-the-force-contraction-profile-of-vacuum-powered-soft-actuators