@conference {B93,
	title = {Force Distribution in Multiple Whole-Limb Manipulation},
	booktitle = {Proc. IEEE Int. Conf. Robotics and Automation},
	year = {1993},
	pages = {196-201},
	address = {Atlanta},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi}
}
