Naoki Sakamoto Mitsuru Higashimori Toshio Tsuji Makoto Kaneko An Optimum Design of Robotic Hand for Handling a Visco-elastic Object Based on Maxwell Model. 1219-1225 2007 conf/icra/2007 ICRA http://dx.doi.org/10.1109/ROBOT.2007.363151 db/conf/icra/icra2007.html#SakamotoHTK07