@inproceedings{lum2014structural,
  title = {Structural optimization method towards synthesis of small scale flexure-based mobile grippers},
  booktitle = {Robotics and Automation (ICRA), 2014 IEEE International Conference on},
  pages = {2339--2344},
  organization = {IEEE},
  year = {2014},
  author = {Lum, Guo Zhan and Diller, Eric and Sitti, Metin}
}