Libin Zhang Zhiheng Wang Qinghua Yang Tiefeng Shao Guanjun Bao Kinematics Model and Simulation of 5-DOF Finger Based on Flexible Pneumatic Actuator. 777-790 2007 CCTA http://dx.doi.org/10.1007/978-0-387-77253-0_6 conf/ifip12/2007ccta2 db/conf/ifip12/ccta2007-2.html#ZhangWYSB07