Table 1.

Parameters for the soft robotic arm adopted in this paper.

Parameter	Value	Parameter	Value
ll0ij (m)	0.0200	Klij (N/m)	196
lr0ij (m)	0.015-0.0067	Krij (N/m)	1570
Mlij (kg)	1.25 × 10−3	Klv (l/m3)	1.0 × 106
Mrij (kg)	1.25 × 10−3	Krv (l/m3)	1.0 × 106
Clij (N s/m)	1.0	V0j (m3)	1.38 × 10−5
			−2.99 × 10−6
Crij (N s/m)	1.0	ρw (kg/m3)	1000
eD1	−5.5 × 10−9	eL1	1.8 × 10−9
eD2	6.3 × 10−7	eL2	−5.9 × 10−7
eD3	−7.7 × 10−6	eL3	2.8 × 10−5
eD4	0.0015	eL4	0.0011
eD5	0.017	eL5	0.00089

Note that, for l^r_0ij and V_0j, they decrease monotonically, according to the compartment number in the given range in the table.