Find the overview of the toolbox, validation, and examples of problems that can be analized using SoRoSim in Mattheww et.al. IEEE Robotics and Automation Magazine paper, "SoRoSim: A MATLAB Toolbox for Hybrid Rigid-Soft Robots Based on the Geometric Variable-Strain Approach" https://ieeexplore.ieee.org/document/9895355 or https://doi.org/10.1109/MRA.2022.3202488
More details about the theory behind the toolbox and some of its applications can be found on: https://arxiv.org/abs/2107.05494
Toolbox GitHub link: https://github.com/ikhlas-ben-hmida/sorosim