@article {GBPM11,
	title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces},
	journal = {Autonomous Robots [special issue on RSS2010]},
	volume = {31},
	number = {2 - 3},
	year = {2011},
	pages = {235 - 252},
	keywords = {Haptics, Robotics},
	doi = {10.1007/s10514-011-9244-1},
	author = {M Gabiccini and A. Bicchi and D Prattichizzo and M. Malvezzi}
}
