@inbook {BP93,
	title = {New Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation},
	booktitle = {Robotics, Mechatronics and Manufacturing Systems},
	year = {1993},
	pages = {373-3790},
	publisher = {North Holland},
	organization = {North Holland},
	address = {Amsterdam},
	keywords = {Haptics, Robotics},
	author = {A. Bicchi and D Prattichizzo},
	editor = {T. Takamori and K. Tsuchiya}
}
