 The principal focus and novel contribution of this work is two-fold: (i) reduced order control oriented modeling of the  realistic internal muscular architecture in an octopus arm;
<fluency>  The principal focus and novel contribution of this work is two-fold: (i) reduced order control oriented modeling of the  realistic internal muscular architecture in an octopus arm;
 The principal focus and novel contribution of this work are two-fold: (i) reduced order control oriented modeling of the realistic internal muscular architecture in an octopus arm;