Two-phased force and coordinates controller for a pair of 2-DOF soft fingers. - Yujiro Yamazaki; Takahiro Inoue; Shinichi Hirai (ROBIO, 2009)

Two-phased controller for a pair of 2-DOF soft fingertips based on the qualitative relationship between joint angles and object location. - Yujiro Yamazaki; Takahiro Inoue; Shinichi Hirai (ICRA, 2010)