Powerful and dexterous multi-finger hand using dynamical pulley mechanism. - Tadaaki Hasegawa; Hironori Waita; Tomohiro Kawakami; Yoshinari Takemura; Tetsuya Ishikawa; Yuta Kimura; Chiaki Tanaka; Kenichiro Sugiyama; Takahide Yoshiike (ICRA, 2022)