@article {PMGB11,
	title = {On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems},
	journal = {Robotics and Autonomous Systems, special issue on Autonomous Grasping},
	volume = {60},
	year = {2012},
	note = {<p>in press, Available online 17 August 2011</p>},
	pages = {337 - 346},
	keywords = {Haptics, Robotics},
	doi = {10.1016/j.robot.2011.07.014},
	author = {D Prattichizzo and M. Malvezzi and M Gabiccini and A. Bicchi}
}
