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. 2021 Dec 10;8:741807. doi: 10.3389/frobt.2021.741807

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Copyright © 2021 Ficuciello, Villani, Lisini Baldi and Prattichizzo.

This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.

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Main grasping method of MUSHA, from left to right are respectively depicted the approach poses in case of precision grasp (Pr) in A, power grasp (Po) in B and retractor (Rt) in C.