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Webster, R. J.; Jones, B. A. . (2010). Design and Kinematic Modeling of Constant Curvature Continuum Robots: A Review. The International Journal of Robotics Research, 29(13), 1661–1683. doi:10.1177/0278364910368147 
An interview with Sci-Hub Founder Alexandra Elbakyan,Who exactly should pay for academic research