# Development and testing of a grasper for NOTES powered by variable stiffness pneumatic actuation

> Research article (International Journal of Medical Robotics and Computer Assisted Surgery, 2017) · cited 16× · AI/ML

**Wikidata**: [openalex:W2573869838](https://www.wikidata.org/wiki/openalex:W2573869838)  
**Source**: https://4ort.xyz/entity/development-and-testing-of-a-grasper-for-notes-powered-by-variable-stiffness-pneumatic-actuation