Design and prototyping soft-rigid tendon-driven modular grippers using interpenetrating phase composites materials. - Irfan Hussain; Oraib Al-Ketan; Federico Renda; Monica Malvezzi; Domenico Prattichizzo; Lakmal D. Seneviratne; Rashid K. Abu Al-Rub; Dongming Gan (Int. J. Robotics Res., 2020)