A Pneumatic Needle Gripper for Handling Shredded Food Products. - Yui Makiyama; Zhongkui Wang; Shinichi Hirai (RCAR, 2020)

A Soft Needle Gripper Capable of Grasping and Piercing for Handling Food Materials. - Zhongkui Wang; Yui Makiyama; Shinichi Hirai (J. Robotics Mechatronics, 2021)