@patent{song2020gripping, title = {Gripping apparatus and method of producing a gripping apparatus}, author = {Song, Sukho and Sitti, Metin and Drotlef, Dirk-Michael and Majidi, Carmel}, publisher = {Google Patents}, month = feb, year = {2020}, note = {US Patent App. 16/610,209}, doi = {}, month_numeric = {2} }