@conference {FGB12,
	title = {Grasp and Manipulation Analysis for Synergistic Underactuated Hands Under General Loading Conditions},
	booktitle = {International Conference of Robotics and Automation - ICRA 2012},
	year = {2012},
	month = {May 14 - 18},
	pages = {2836 - 2842},
	address = {Saint Paul, MN, USA},
	keywords = {Robotics},
	author = {M Gabiccini and E. Farnioli and A. Bicchi}
}
