D. Rus and M. T. Tolley, Design, fabrication and control of soft robots, Nature, vol.521, issue.7553, pp.467-475, 2015.

H. B. Gilbert, D. C. Rucker, R. J. Webster, and I. , Concentric tube robots: The state of the art and future directions, Robotics Research, pp.253-269, 2016.

N. Hogan, Impedance Control: An Approach to Manipulation: Part II Implementation, Journal of Dynamic Systems, Measurement, and Control, vol.107, issue.1, pp.8-16, 1985.
DOI : 10.1115/1.3140713

H. Choi, W. Chung, and Y. Youm, Stiffness analysis and control of redundant manipulators, IEEE International Conference on Robotics and Automation, pp.689-695, 1994.

K. Koganezawa and S. Ban, Stiffness control of antagonistically driven redundant D.O.F. manipulator, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.3, pp.2280-2285, 2002.

A. Ajoudani, N. G. Tsagarakis, and A. Bicchi, On the role of robot configuration in Cartesian stiffness control, IEEE International Conference on Robotics and Automation, pp.1010-1016, 2015.

C. Gosselin, Stiffness mapping for parallel manipulators, IEEE Transactions on Robotics and Automation, vol.6, issue.3, pp.377-382, 1990.
DOI : 10.1109/70.56657

A. Firouzeh and J. Paik, Grasp Mode and Compliance Control of an Underactuated Origami Gripper Using Adjustable Stiffness Joints, IEEE/ASME Transactions on Mechatronics, vol.22, issue.5, pp.2165-2173, 2017.

A. Albu-schaffer and G. Hirzinger, Cartesian impedance control techniques for torque controlled light-weight robots, IEEE International Conference on Robotics and Automation, vol.1, pp.657-663, 2002.
DOI : 10.1109/robot.2002.1013433

A. Albu-schäffer, M. Fischer, G. Schreiber, F. Schoeppe, and G. Hirzinger, Soft robotics: what Cartesian stiffness can obtain with passively compliant, uncoupled joints?, IEEE/RSJ International Conference on Intelligent Robots and Systems, vol.4, pp.3295-3301, 2004.

F. Petit and A. Albu-schäffer, Cartesian impedance control for a variable stiffness robot arm, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.4180-4186, 2011.
DOI : 10.1109/iros.2011.6094736

URL : https://elib.dlr.de/111579/1/2011-IROS-VIA-stiffness.pdf

A. De-luca and F. Flacco, Dynamic gravity cancellation in robots with flexible transmissions, 49th IEEE Conference on Decision and Control, pp.288-295, 2010.

R. B. Gillespie, T. Shin, F. Huang, and B. Trease, Automated Characterization and Compensation for a Compliant Mechanism Haptic Device, IEEE/ASME Transactions on Mechatronics, vol.13, issue.1, pp.136-146, 2008.

N. Herzig, R. Moreau, T. Redarce, F. Abry, and X. Brun, Non linear position and closed loop stiffness control for a pneumatic actuated haptic interface: the BirthSIM, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.1612-1618, 2015.
URL : https://hal.archives-ouvertes.fr/hal-01216564

M. Mahvash and P. E. Dupont, Stiffness control of a continuum manipulator in contact with a soft environment, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.863-870, 2010.

C. D. Santina, R. K. Katzschmann, A. Bicchi, and D. Rus, Dynamic control of soft robots interacting with the environment, IEEE International Conference on Soft Robotics, 2018.

S. Hauser, M. Robertson, A. Ijspeert, and J. Paik, JammJoint: A Variable Stiffness Device Based on Granular Jamming for Wearable Joint Support, IEEE Robotics and Automation Letters, vol.2, issue.2, pp.849-855, 2017.

A. Firouzeh, M. Salerno, and J. Paik, Stiffness Control With Shape Memory Polymer in Underactuated Robotic Origamis, IEEE Transactions on Robotics, vol.33, issue.4, pp.765-777, 2017.

C. Majidi and R. J. Wood, Tunable elastic stiffness with microconfined magnetorheological domains at low magnetic field, Applied Physics Letters, vol.97, issue.16, p.164104, 2010.

N. Usevitch, A. Okamura, and E. Hawkes, APAM: Antagonistic Pneumatic Artificial Muscle, IEEE International Conference on Robotics and Automation, 2018.

F. Largillì-ere, E. Coevoet, M. Sanz-lopez, L. Grisoni, and C. Duriez, Stiffness rendering on soft tangible devices controlled through inverse FEM simulation, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5224-5229, 2016.

C. Duriez, Control of elastic soft robots based on real-time finite element method, IEEE International Conference on Robotics and Automation, pp.3982-3987, 2013.
URL : https://hal.archives-ouvertes.fr/hal-00823766

Z. Zhang, J. Dequidt, A. Kruszewski, F. Largilliere, and C. Duriez, Kinematic modeling and observer based control of soft robot using realtime Finite Element Method, IEEE/RSJ International Conference on Intelligent Robots and Systems, pp.5509-5514, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01370347

E. Coevoet, T. Morales-bieze, F. Largilliere, Z. Zhang, M. Thieffry et al., Software toolkit for modeling, simulation, and control of soft robots, Advanced Robotics, vol.31, issue.22, pp.1208-1224, 2017.
URL : https://hal.archives-ouvertes.fr/hal-01649355

J. S. Przemieniecki, Theory of matrix structural analysis. Courier Corporation, 1985.