Muru, JohannesTartu Ülikool. Loodus- ja täppisteaduste valdkondTartu Ülikool. Tehnoloogiainstituut2021-06-212021-06-212021http://hdl.handle.net/10062/72649A 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.engembargoedAccessAttribution-NonCommercial-NoDerivatives 4.0 InternationalSimulation systemsSoft robotsSoft actuatorsFiber-reinforced ActuatorsmagistritöödThesis