Original Research Published on 01 Jul 2021 Dynamically Tunable Friction via Subsurface Stiffness Modulation in Soft Robotics Siavash SharifiCaleb RuxNathaniel SparlingGuangchao WanAmir Mohammadi NasabArpith SiddaiahPradeep MenezesTeng ZhangWanliang Shan Frontiers in Robotics and AI doi 10.3389/frobt.2021.691789 6,685 views 11 citations