@conference {PMBV97-CIS,
	title = {Geometric Control Techniques for Manipulation Systems},
	booktitle = {Proceeding Int. Conf. Computer Integrated Systems},
	year = {1997},
	address = {Belfort, France},
	keywords = {Haptics, Robotics},
	author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino}
}
