D.  Prattichizzo, Malvezzi, M., Gabiccini, M., and Bicchi, A., ?On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies?, IEEE Transactions on Robotics, vol. 29, no. 6, pp. 1440 - 1456 , 2013. 

D.  Prattichizzo, Malvezzi, M., Gabiccini, M., and Bicchi, A., ?On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems?, Robotics and Autonomous Systems, special issue on Autonomous Grasping, vol. 60, no. 3, pp. 337 - 346, 2012. 

D.  Prattichizzo, Malvezzi, M., and Bicchi, A., ?On motion and force controllability of grasping hands with postural synergies?, in Proceedings of Robotics: Science and Systems, Zaragoza, Spain, 2010.