@article{oai:kanazawa-u.repo.nii.ac.jp:00008968,
 author = {Takeuchi, Hiroki and Watanabe, Tetsuyou},
 issue = {2010},
 journal = {Proceedings of the International Symposium on Robotics (ISR)},
 month = {Jan},
 note = {This paper develops a multi-fingered robot hand with skin mechanism enabling softness change. We show how the softness of the skin affects grasping and manipulation. Elastic skin provides stable grasping while precise manipulation is lost. Hard skin provides precise manipulation while stability of grasp is lost. We will try to change the softness of the skin according to situation, object, and so on. In this paper, we develop a novel human like robot hand with softnesschangeable skin mechanism.},
 pages = {606--612},
 title = {Development of a Multi-fingered Robot Hand with Softness-changeable Skin Mechanism},
 year = {2010}
}