https://blog.wongcw.com/2020/01/21/soft-robotics%e7%8d%b22300%e8%90%ac%e7%be%8e%e5%85%83b%e8%bc%aa%e8%9e%8d%e8%b3%87%e5%b7%a5%e6%a5%ad%e6%a9%9f%e5%99%a8%e4%ba%ba%e5%b7%a8%e9%a0%adfanuc%e7%ad%89%e5%8f%83%e6%8a%95/