A multi-sensor system for controlling grasping force. - Yoji Yamada; Hiroaki Kozai; Nuio Tsuchida; Koji Imai (IROS, 1991)

A parallel-fingered hand system with multiple sensing functions for grasping various objects. - Yoji Yamada; Hiroaki Kozai; Nuio Tsuchida; Koji Imai (Adv. Robotics, 1993)