Development of multi joint gripper and its dexterous grasping. - Soichirou Nomura; Takumi Tamamoto; Keita Takeuchi; Koichi Koganezawa (RO-MAN, 2017)

Development of Gripper to Achieve Envelope Grasping with Underactuated Mechanism Using Differential Gear. - Takumi Tamamoto; Keita Takeuchi; Koichi Koganezawa (J. Robotics Mechatronics, 2018)

Numerical and Experimental Testing of Underwater Gripper with Adjustable Stiffness Joints. - Norimitsu Sakagami; Keita Takeuchi; Koichi Koganezawa (SII, 2020)