# Tuning Stiffness with Granular Chain Structures for Versatile Soft Robots

> Research article (Soft Robotics, 2023) · cited 21× · AI/ML

**Wikidata**: [openalex:W4366603117](https://www.wikidata.org/wiki/openalex:W4366603117)  
**Source**: https://4ort.xyz/entity/tuning-stiffness-with-granular-chain-structures-for-versatile-soft-robots