Haibin Yin Qian Li Junfeng Li Mingchang He Investigate of Grasping Force for a Soft Robot Hand Under Pulling Force and Varying Stiffness. 162-172 2017 ICIRA (1) https://doi.org/10.1007/978-3-319-65289-4_16 conf/icira/2017-1 db/conf/icira/icira2017-1.html#YinLLH17