@article {572761, title = {A Biologically Inspired, Functionally Graded End Effector for Soft Robotics Applications}, journal = {Soft Robotics}, year = {2017}, author = {Kitty Kumar and Liu, Jia and Caleb Christianson and Mustafa Ali and Michael T. Tolley and Joanna Aizenberg and Donald E. Ingber and James C. Weaver and Katia Bertoldi} }