Ritsuya Ohshima Toshio Takayama Toru Omata Toshiki Ohya Kazuyuki Kojima Kozo Takase Naofumi Tanaka Assemblable three fingered five-DOF hand for laparoscopic surgery. 3896-3901 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543809 conf/icra/2008 db/conf/icra/icra2008.html#OhshimaTOOKTT08