@article {B95,
	title = {On the Closure Properties of Robotic Grasping},
	journal = {The Int. J. of Robotics Research},
	volume = {14},
	number = {4},
	year = {1995},
	month = {August},
	pages = {319-334},
	keywords = {Haptics, Robotics},
	author = {A. Bicchi}
}
