“…While previously cited papers used electric motors to reconfigure fingers and change the gripper workspace, other works adopted pneumatic actuators for the same purpose [18], [72], [73]. The authors in [18] and [72] proposed two similar grippers in which pneumatic actuators in the palm move the fingers' bases allowing their rotation and translation. In [18], the gripper has four fingers whose configuration can be changed using distanceadjusting actuators and angle-adjusting actuators.…”