@conference {GBB11,
	title = {Dynamic Optimization of Tendon Tensions in Biomorphically Designed Hands with Rolling Constraints},
	booktitle = {2011 IEEE International Conference on Robotics and Automation},
	year = {2011},
	month = {May 9 - 13},
	pages = {2698 - 2704},
	address = {Shangai, China},
	keywords = {Haptics, Robotics},
	author = {M Gabiccini and M. Branchetti and A. Bicchi}
}
