@article {3750, title = {Underactuated robotic hand}, number = {15/772368}, year = {2018}, month = {11/01}, url = {https://patentimages.storage.googleapis.com/c3/76/f4/3f31e20b15ad53/US20180311827A1.pdf}, author = {A. Bicchi and C. Della Santina and M. G. Catalano and C. Piazza and G. Grioli and A. Brando} }