Soft Gripping: Specifying for Trustworthiness. - Dhaminda B. Abeywickrama; Nguyen Hao Le; Greg Chance; Peter D. Winter; Arianna Manzini; Alix J. Partridge; Jonathan Ives; John Downer; Graham Deacon; Jonathan Rossiter; Kerstin Eder; Shane Windsor (RoboSoft, 2024)