Paolo Tiezzi Imin Kao Gabriele Vassura Effect of Layer Compliance on Frictional Behavior of Soft Robotic Fingers. 4012-4017 2006 IROS http://dx.doi.org/10.1109/IROS.2006.281860 conf/iros/2006 db/conf/iros/iros2006.html#TiezziKV06