@article {3648, title = {Skin stretch haptic feedback to convey closure information in anthropomorphic, under-actuated upper limb soft prostheses}, journal = {IEEE Transactions on Haptics ( Early Access )}, author = {E. Battaglia and J. Clark and M. Bianchi and M. G. Catalano and A. Bicchi and M. K. O{\textquoteright}Malley} }