@article {BC94, title = {Optimal Design of Multivariate Sensors}, journal = {Measurement Science and Technology (Institute of Physics Journal {\textquoteleft}{\textquoteleft}E{\textquoteright}{\textquoteright})}, volume = {5}, year = {1994}, pages = {319-332}, keywords = {Robot Hands, Sensors}, author = {A. Bicchi and G. Canepa} }