Takahiro Inoue Shinichi Hirai Experimental Investigation of Mechanics in Soft-Fingered Grasping and Manipulation. 13-22 2006 ISER http://dx.doi.org/10.1007/978-3-540-77457-0_2 conf/iser/2006 db/conf/iser/iser2006.html#InoueH06