@conference {PPB94,
	title = {Articulated Structures with Tendon Actuation for Whole-Limb Manipulation},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1994},
	keywords = {Haptics, Robot Arms, Robot Hands},
	author = {P. Petreschi and D Prattichizzo and A. Bicchi}
}
