Learning hardware agnostic grasps for a universal jamming gripper. - Yun Jiang; John R. Amend; Hod Lipson; Ashutosh Saxena (ICRA, 2012)

A Positive Pressure Universal Gripper Based on the Jamming of Granular Material. - John R. Amend; Eric Brown 001; Nicholas Rodenberg; Heinrich M. Jaeger; Hod Lipson (IEEE Trans. Robotics, 2012)