Bio-Inspired Soft Variable-Stiffness Prehensile Tail Enabling Versatile Grasping and Enhancing Dynamic Mobility. - Jiajun An; Huayu Zhang; Shengzhi Wang; Zelin Li; Han Lin; Zihan Oliver Zeng; Qing Wen; Xingming Gan; Dongming Gan; Upinder Kaur; Xin Ma (IEEE Robotics Autom. Lett., 2025)