@conference {BM93,
	title = {Manipulability Measures of Cooperating Arms},
	booktitle = {Proc. American Control Conference},
	year = {1993},
	keywords = {Haptics, Robotics},
	url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4792867},
	author = {A. Bicchi and C. Melchiorri}
}
