# A Self-Reconfigurable Variable-Stiffness Soft Robot Based on Boundary-Constrained Modular Units

> Research article (IEEE Transactions on Robotics, 2021) · cited 31× · AI/ML

**Wikidata**: [openalex:W3201265861](https://www.wikidata.org/wiki/openalex:W3201265861)  
**Source**: https://4ort.xyz/entity/a-self-reconfigurable-variable-stiffness-soft-robot-based-on-boundary-constrained-modular-units