The Velo gripper: A versatile single-actuator design for enveloping, parallel and fingertip grasps.
Matei T. CiocarlieFernando Mier HicksRobert HolmbergJeffrey HawkeMichael SchlichtJeff GeeScott StanfordRyan BahadurPublished in: Int. J. Robotics Res. (2014)