Lionel Birglen Thierry Laliberté Clément M. Gosselin Underactuated Robotic Hands 40 2008 1-213 Springer Springer Tracts in Advanced Robotics http://dx.doi.org/10.1007/978-3-540-77459-4 978-3-540-77458-7 db/series/star/index.html#BirglenLG08