@conference {PMBV97-AIMETA,
	title = {Geometric Control Techniques for Mechanical Systems},
	booktitle = {Int. Conf. Italian Association for Theretical and Applied Mechanics},
	year = {1997},
	address = {Siena, Italia, september 29 - October 3 1997},
	keywords = {Haptics, Robotics},
	author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino}
}
