Fig. 2From: A multi-jointed underactuated robot hand with fluid-driven stretchable tubesGrasping process of artificial tentacle. a Grasping step 1 of regular object. b Grasping step 2 of regular object. c Grasping step 3 of regular object. d Grasping step 4 of regular object. e Grasping step 1 of irregular object. f Grasping step 2 of irregular object. g Grasping step 3 of irregular object. h Grasping step 4 of irregular objectBack to article page