A master's thesis at the College of Engineering at the University of Basrah discussed the design of an intelligent control feature for soft robotic systems
The thesis presented by student Heba Ali Mohsen dealt with the theoretical design of several control systems approaches using the MATLAB/SIMULINK package to control the length of contraction (PMA), including Bang-Bang, (PI)Proportional-Integral, and the artificial neural network (NN). and fuzzy logic controllers (FLC).
The performance of the proposed control systems was tested and evaluated theoretically by designing a closed-loop control system for adjusting the length of the soft contractile pneumatic muscle actuator (SCPMA), and a comprehensive comparison between these various control techniques was also performed. In addition, SCPMA was designed and manufactured from soft materials in order to evaluate the activity of this artificial muscle.
Also, a new formula for the Length Variation Mathematical Model (SCPMA), based on the pressure/length characteristic curve, was developed and a new intelligent control scheme called the Adaptive Parallel Fuzzy-Proportional Integral Controller (APFPIC) was developed. The thesis also included the design of a variable length and variable soft endoscope. Solidity (VL-VS-SE) for examination of the pharynx and esophagus,
  
The thesis concluded that this continuous, soft arm could be useful in diagnosing and examining some diseases that affect the upper digestive system. It can also be developed in the future to perform some minimally invasive surgeries.