Development of an underactuated robot gripper capable of retracting motion. - Hiroyuki Nishimura; Atsushi Kakogawa; Shugen Ma (ROBIO, 2012)

Underactuated modular finger with pull-in mechanism for a robotic gripper. - Atsushi Kakogawa; Hiroyuki Nishimura; Shugen Ma (ROBIO, 2016)