@entry{luq-roj-19-aa,
  author = {Q Lu and N Rojas},
  title = {On soft fingertips for in-hand manipulation: Modeling and implications for robot hand design},
  journal = {IEEE Robotics and Automation Letters,},
  volume = {},
  number = {},
  pages = {},
  year = 2019,
  month = ,
  doi = {},
  comment = {},
  abstract = {},
  url = {{\url{https://ieeexplore.ieee.org/abstract/document/8675256/?casa_token=AcyOFVibjNMAAAAA:qxIMuzF3orAqC9pkwODMTubhgzu6olx4_fh17tsljIgQcxFwv5vGQGZjiw8jSwehYVjnU9lH}}},
  quotes = {... with friction, modelling the interaction between fingertips and objects as joints with clearances rather than ideal instances, and then approximating clearances via affine arithmetic to ...}
}