@article {PB98,
	title = {Dynamic Analysis of Mobility and Graspability of General Manipulation Systems},
	journal = {IEEE Trans. on Robotics and Automation},
	volume = {14},
	number = {2},
	year = {1998},
	pages = {241-258},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and A. Bicchi}
}
