@article {BGS11,
	title = {Modeling Natural and Artificial Hands with Synergies},
	journal = {Philosophical Transactions of the Royal Society B},
	volume = {366},
	year = {2011},
	pages = {3153 - 3161},
	keywords = {Haptics, Robotics},
	doi = {10.1098/rstb.2011.0152},
	author = {A. Bicchi and M Gabiccini and M. Santello}
}
