# Grasp Mode and Compliance Control of an Underactuated Origami Gripper Using Adjustable Stiffness Joints

> Research article (IEEE/ASME Transactions on Mechatronics, 2017) · cited 126× · AI/ML

**Wikidata**: [openalex:W2740763895](https://www.wikidata.org/wiki/openalex:W2740763895)  
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