Fei Wang Duanling Li Haiyuan Li Mechanism Design and Kinematic Analysis of a Robotic Modular Finger and Reconfigurable Hand. 1923-1928 2021 ROBIO https://doi.org/10.1109/ROBIO54168.2021.9739533 conf/robio/2021 db/conf/robio/robio2021.html#WangLL21