Giannaccini, Maria ElenaXiang, ChaoqunAtyabi, AdhamTheodoridis, TheoNefti-Meziani, SamiaDavis, Steve2019-11-222019-11-222018-02-01Giannaccini, M E, Xiang, C, Atyabi, A, Theodoridis, T, Nefti-Meziani, S & Davis, S 2018, 'Novel Design of a Soft Lightweight Pneumatic Continuum Robot Arm with Decoupled Variable Stiffness and Positioning', Soft Robotics, vol. 5, no. 1, pp. 54-70. https://doi.org/10.1089/soro.2016.0066, https://doi.org/10.17866/rd.salford.51399732169-5172https://hdl.handle.net/2164/13298The authors acknowledge support from the EPSRC Centre for Innovative Manufacturing in Intelligent Automation, in undertaking this research work under grant reference number EP/IO33467/1. The second author is supported by the program of the China Scholarships Council (No. 201406080054). No competing financial interests exist. The authors are grateful to A. Baker, M. Irshaidat, M. Sharba, and Dr. H. Hauser for their help with hardware and software components. In accordance with EPSRC and University of Salford rules, the data relative to the research work presented are stored on Figshare, identified by the DOI: 10.17866/rd.salford.5139973. The work described in the article by Giannaccini was conducted while she was employed at Salford University. She is now employed by Bristol University.171397698engphysical human-robot interactionpneumatic actuatorssoft robot armvariable stiffnessTA Engineering (General). Civil engineering (General)Control and Systems EngineeringBiophysicsArtificial IntelligenceEngineering and Physical Sciences Research Council (EPSRC)EP/IO33467/1Supplementary DataTAJournal article10.1089/soro.2016.0066http://www.scopus.com/inward/record.url?scp=85041966576&partnerID=8YFLogxK51