@patent{song2020gripping,
  title = {Gripping apparatus and method of producing a gripping apparatus},
  abstract = {The present invention relates to a gripping apparatus comprising a membrane; a flexible housing; with said membrane being fixedly connected to a periphery of the housing. The invention further relates to a method of producing a gripping apparatus.},
  publisher = {Google Patents},
  month = feb,
  year = {2020},
  note = {US Patent App. 16/610,209},
  author = {Song, Sukho and Sitti, Metin and Drotlef, Dirk-Michael and Majidi, Carmel},
  month_numeric = {2}
}