Effect of layer compliance on frictional behavior of soft robotic fingers.

Paolo Tiezzi Imin Kao Gabriele Vassura Effect of layer compliance on frictional behavior of soft robotic fingers. 1653-1670 2007 21 Advanced Robotics 14 http://dx.doi.org/10.1163/156855307782227390 db/journals/ar/ar21.html#TiezziKV07