R.  Krug, Stoyanov, T., Bonilla, M., Tincani, V., Vaskeviciusz, N., Fantoni, G., Birkz, A., Lilienthal, A., and Bicchi, A., ?Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces?, in 2014 IEEE International Conference on Robotics and Automation, Hong Kong, May 31 2014-June 7 2014, 2014, pp. 3669 - 3675 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907390

V.  Tincani, Catalano, M. G., Farnioli, E., Garabini, M., Grioli, G., Fantoni, G., and Bicchi, A., ? Velvet fingers: A dexterous gripper with active surfaces?, in International Conference of Intelligent Robots and Systems - IROS 2012, Vilamoura, Algarve, Portugal, 2012, pp. 1257 - 1263 .