@conference {PMB10,
	title = {On motion and force controllability of grasping hands with postural synergies},
	booktitle = {Proceedings of Robotics: Science and Systems},
	year = {2010},
	month = {June},
	address = {Zaragoza, Spain},
	keywords = {Haptics, Robotics},
	author = {D Prattichizzo and M. Malvezzi and A. Bicchi}
}
