Mahfoudi Chawki, Amouri Ammar and Zaatri Abdelouahab."New Approach to Modeling a planar flexible continuum robot simulating elephant trunk". Journal of New Technology and Materials(JNTM)- Oum elbouaghi journal, vol 3, issue 2, 2013.
downloadable from:
https://sites.google.com/site/jntmjournal/Vol-3-issue2