%0 Conference Paper %B IEEE International Conference on Robotics and Automation (ICRA2013) %D 2013 %T Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces %A V. Tincani %A G. Grioli %A M. G. Catalano %A M. Garabini %A S. Grechi %A G Fantoni %A A. Bicchi %K Haptics %K Robotics %B IEEE International Conference on Robotics and Automation (ICRA2013) %P 2744 - 2750 %G eng %U 10.1109/ICRA.2013.6630955