FEA-based SPA design tool This work was done in collaboration with the Laboratory for Multiscale Mechanics Modeling (LAMMM). To cite this work please use: P. Moseley�, J.M. Florez, H.A. Sonar, G. Agarwal, W. Curtin, J.Paik. Modeling and Design of Soft Pneumatic Actuators, accepted for publication in Advanced Engineering Materials, 2015. The complete spa_guided_design_tool is available to the publi