@article {1665,
	title = {Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand},
	journal = {International Journal of Robotics Research},
	volume = {33},
	year = {2014},
	pages = {768{\textendash}782},
	keywords = {Haptics, Robotics},
	doi = {10.1177/0278364913518998},
	author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and C. Piazza and A. Bicchi}
}
