@conference {TB02-IARP, title = {Design, Realization and Control of Soft Robot Arms for Intrinsically Safe Interaction with Humans}, booktitle = {Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2002}, month = {October}, pages = {79-87}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti} }