@conference {BPM97,
	title = {Force and Dynamic Manipulability for Cooperating Robot Systems},
	booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
	year = {1997},
	keywords = {Haptics, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo and C. Melchiorri}
}
