A model based incorporation of stiff fibers into an elastomeric matrix to program the stiffness
profile of a soft robotic cervix is presented. The proposed soft actuator is designed to have similar
mechanical properties as various biological soft tissues. The stiffness profile of the cervix
was verified with an original measurement setup, designed to dilate the robotic cervix. It is
demonstrated that the stiffness profile of the cervix is controllable. The soft robotic cervix gives
promise to developing a working prototype to be used in healthcare simulators.