# Downloads ## expand\_more ### Files for fabrication - [SolidWorks part file + g-code for the milling steps (.zip)]() ### Files for modeling - [Bend analysis derivation (.pdf)]() - [MATLAB code for analysis (.zip)]() Some of the information contained in this web site includes intellectual property covered by both issued and pending patent applications. It is intended solely for research, educational and scholarly purposes by not-for-profit research organizations. If you have interest in specific technologies for commercial applications, please contact us [here](/contact-form). ### Bibliography Odhner et al. (in press) “[A compliant, underactuated hand for robust manipulation](/publications/compliant-underactuated-hand-robust-manipulation)” Gafford et al. (2014) “[Shape Deposition Manufacturing of a Soft, Atraumatic, Deployable Surgical Grasper](/publications/shape-deposition-manufacturing-soft-atraumatic-deployable-surgical-grasper)” Dollar and Howe (2010) “[The highly adaptive SDM hand: Design and performance evaluation](/publications/highly-adaptive-sdm-hand-design-and-performance-evaluation)” Dollar and Howe (2006) “[A robust compliant grasper via shape deposition manufacturing](/publications/robust-compliant-grasper-shape-deposition-manufacturing)” Binnard and Cutkosky (2000) “[Design by Composition for Layered Manufacturing](/publications/design-composition-layered-manufacturing)” ### Contributors Joshua Gafford