Ability to hold grasped objects by underactuated hands: Performance prediction and experiments. - Gert A. Kragten; Aris C. Kool; Just L. Herder (ICRA, 2009)

Stable Precision Grasps by Underactuated Grippers. - Gert A. Kragten; Mathieu Baril; Clément M. Gosselin; Just L. Herder (IEEE Trans. Robotics, 2011)