**7. Patents**

The technology presented in this paper is under a patent licensing process. A patent entitled "Eslabón para articulación blanda y articulación blanda que comprende dicho eslabón" ("Link for soft articulation and soft articulation comprising such link") and reference number P202030726 (register number 5349) has been presented to the Oficina Española de Patentes y Marcas—OEPM (Spanish Patents Office) (5 July 2020).

**Author Contributions:** Conceptualization, L.N., C.R., C.A.M. and C.B.; methodology, L.N., C.R. and C.A.M.; software, L.N. and C.R.; validation, L.N., C.R. and C.A.M.; formal analysis, L.N. and C.R.; investigation, L.N., C.R., C.A.M. and C.B.; resources, C.A.M. and C.B.; data curation, L.N. and C.R.; writing—original draft preparation, L.N. and C.R.; writing—review and editing, L.N., C.R., C.A.M. and C.B.; visualization, L.N. and C.R.; supervision, C.A.M. and C.B.; project administration, C.A.M.; funding acquisition, C.A.M. and C.B. All authors have read and agreed to the published version of the manuscript.

**Funding:** The research leading to these results has received funding from the project Desarrollo de articulaciones blandas para aplicaciones robóticas, with reference IND2020/IND-1739, funded by the Comunidad Autónoma de Madrid (CAM) (Department of Education and Research), and from RoboCity2030-DIH-CM, Madrid Robotics Digital Innovation Hub (Robótica aplicada a la mejora de la calidad de vida de los ciudadanos, FaseIV; S2018/NMT-4331), funded by "Programas de Actividades I+D en la Comunidad de Madrid" and cofunded by Structural Funds of the EU.

**Institutional Review Board Statement:** Not applicable.

**Informed Consent Statement:** Not applicable.

**Data Availability Statement:** The data presented are available on request from the corresponding author.

**Conflicts of Interest:** The authors declare no conflict of interest.
