@article {3447,
	title = {Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning},
	journal = {IEEE Robotics and Automation Letters},
	volume = {3},
	year = {2018},
	month = {July},
	pages = {2686-2693},
	keywords = {19-DoF anthropomorphic hand, Biomechanics, common grasping tasks, compliant joint/mechanism, covariance matrices, experimental covariance matrix, Force, force distribution, grasp planning, Grasping, grippers, hand posture reconstruction, hand-object relative pose, incremental learning algorithm, Jacobian matrices, joint angle covariation patterns, learning (artificial intelligence), minimisation, multifingered hands, pose estimation, postural hand synergies, postural synergies, posture description, principal component analysis, reduced complexity representation, relative statistical weight, Robots, Solid modeling, synergy vectors, Task analysis},
	doi = {10.1109/LRA.2018.2829027},
	author = {G. Averta and F. Angelini and M. Bonilla and M. Bianchi and A. Bicchi}
}
