@conference {B92-IFTOMM,
	title = {Algorithms for the Analysis of Form- and Force-Closure},
	booktitle = {IFToMM Int. Symp. on Theory of Machines and Mechanisms},
	year = {1992},
	address = {Nagoya, Japan},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi}
}
