@conference {3719, title = {Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units}, booktitle = {18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018}, year = {2019}, doi = {10.1109/HUMANOIDS.2018.8624929}, url = {https://ieeexplore.ieee.org/document/8624929}, author = {P. J. Kieliba and P. H. Veltink and T. Lisini Baldi and D. Pratichizzo and G. Santaera and A. Bicchi and M. Bianchi and B. J. F. Van Beijnum} } @conference {3747, title = {The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation}, booktitle = {International Symposium on Wearable Robotics}, year = {2018}, doi = {https://doi.org/10.1007/978-3-030-01887-0_71}, author = {C. Piazza and M. G. Catalano and M. Bianchi and E. Ricciardi and D. Pratichizzo and S. Haddadin and Luft, A. R. L. and O. Lambercy and R. Gassert and E. Jakubowitz and H. Van Der Kooij and F. Tonis and F. Bonomo and B. de Jonge and T. Ward and K. Zhao and M. Santello and A. Bicchi} } @article {2652, title = {Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands}, journal = {Physics of Life Reviews}, volume = {17}, year = {2016}, month = {07/2016}, pages = {1-23}, keywords = {Haptics, Robotics}, url = {http://www.sciencedirect.com/science/article/pii/S1571064516000269}, author = {M. Santello and M. Bianchi and M Gabiccini and E. Ricciardi and G. Salvietti and D Prattichizzo and M. Ernst and A. Moscatelli and H. Jorntell and A. Kappers and K. Kyriakopulos and A Albu-Schaeffer and C. Castellini and A. Bicchi} } @inbook {1694, title = {HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS}, booktitle = {Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project}, volume = {94}, number = {Springer Tracts in Advanced Robotics}, year = {2014}, pages = {197-215}, abstract = {

The scientific goal of HANDS.DVI consists of developing a common
framework to programming robotic hands independently from their kinematics,
mechanical construction, and sensor equipment complexity. Recent results on the
organization of the human hand in grasping and manipulation are the inspiration
for this experiment. The reduced set of parameters that we effectively use to control
our hands is known in the literature as the set of synergies. The synergistic
organization of the human hand is the theoretical foundation of the innovative approach
to design a unified framework for robotic hands control. Theoretical tools
have been studied to design a suitable mapping function of the control action (decomposed
in its elemental action) from a human hand model domain onto the
articulated robotic hand co-domain. The developed control framework has been
applied on an experimental set up consisting of two robotic hands with dissimilar
kinematics grasping an object instrumented with force sensors.

}, keywords = {Haptics, Robotics}, doi = {10.1007/978-3-319-02934-4_10}, author = {G. Salvietti and G. Gioioso and M. Malvezzi and D Prattichizzo and A. Serio and E. Farnioli and M Gabiccini and A. Bicchi and I. Sarakoglou and N G Tsagarakis and D. G. Caldwell} } @article {1683, title = {On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies}, journal = {IEEE Transactions on Robotics}, volume = {29}, year = {2013}, month = {12/2013}, pages = {1440 - 1456 }, abstract = {

To adapt to many different objects and tasks, hands are very complex systems with many degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at the cost of size and weight of the hardware of devices, but it strongly affects also the ease of their programming. A possible approach to simplification consists in coupling some of the DOFs, thus affording a reduction of the number of effective inputs, and eventually leading to more efficient, simpler, and reliable designs. Such coupling can be at the software level, to achieve faster, more intuitive programmability or at the hardware level, through either rigid or compliant physical couplings between joints. Physical coupling between actuators and simplification of control through the reduction of independent inputs is also an often-reported interpretation of human hand movement data, where studies have demonstrated that few {\textquotedblleft}postural synergies{\textquotedblright} explain most of the variance in hand configurations used to grasp different objects. Together with beneficial simplifications, the reduction of the number of independent inputs to a few coupled motions or {\textquotedblleft}synergies{\textquotedblright} has also an impact on the ability of the hand to dexterously control grasp forces and in-hand manipulation. This paper aims to develop tools that establish how many synergies should be involved in a grasp to guarantee stability and efficiency, depending on the task and on the hand embodiment. Through the analysis of a quasi-static model, grasp structural properties related to contact force and object motion controllability are defined. Different compliant sources are considered, for a generalization of the discussion. In particular, a compliant model for synergies assumed, referred to as {\textquotedblleft}soft synergies,{\textquotedblright} is discussed. The controllable internal forces and motions of the grasped object are related to the actuated inputs. This paper investigates to what extent a hand with many joints can ex- loit postural synergies to control force and motion of the grasped object.

}, keywords = {Haptics, Robotics}, doi = {10.1109/TRO.2013.2273849}, author = {D Prattichizzo and M. Malvezzi and M Gabiccini and A. Bicchi} } @conference {1940, title = {Neural correlates of haptic pop-out of shape discrimination in the human brain}, booktitle = {19th Annual Meeting of the Organization for Human Brain Mapping}, year = {2013}, address = {Seattle, USA, June2013}, author = {A. Leo and M. Feurra and S. Rossi and A. Kappers and A. Bicchi and D Prattichizzo and Cristea, I. and David, D. and P. Pietrini and E. Ricciardi} } @conference {1446, title = {SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {1088 - 1093}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630708 }, author = {M. Malvezzi and G. Gioioso and G. Salvietti and D Prattichizzo and A. Bicchi} } @article {PMGB11, title = {On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems}, journal = {Robotics and Autonomous Systems, special issue on Autonomous Grasping}, volume = {60}, year = {2012}, note = {

in press, Available online 17 August 2011

}, pages = {337 - 346}, keywords = {Haptics, Robotics}, doi = {10.1016/j.robot.2011.07.014}, author = {D Prattichizzo and M. Malvezzi and M Gabiccini and A. Bicchi} } @article {GBPM11, title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces}, journal = {Autonomous Robots [special issue on RSS2010]}, volume = {31}, number = {2 - 3}, year = {2011}, pages = {235 - 252}, keywords = {Haptics, Robotics}, doi = {10.1007/s10514-011-9244-1}, author = {M Gabiccini and A. Bicchi and D Prattichizzo and M. Malvezzi} } @conference {PMB10, title = {On motion and force controllability of grasping hands with postural synergies}, booktitle = {Proceedings of Robotics: Science and Systems}, year = {2010}, month = {June}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and M. Malvezzi and A. Bicchi} } @article {1407, title = {Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {30}, year = {2005}, pages = {140{\textendash}152}, keywords = {Robotics}, issn = {0364-9059}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @inbook {BSDDS05, title = {Tactile Flow and Haptic Discrimination of Softness}, booktitle = {Multi-point Interaction with Real and Virtual Objects}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {18}, year = {2005}, pages = {165-176}, publisher = {Springer Verlag}, organization = {Springer Verlag}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and D. Dente and N. Sgambelluri}, editor = {F. Barbagli and D Prattichizzo and K. Salisbury} } @book {BCP02, title = {Control Problems in Robotics}, volume = {4}, year = {2002}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg}, keywords = {Robotics}, editor = {A. Bicchi and H. Christensen and D Prattichizzo} } @conference {PB02, title = {Grasp Control: a General Manipulation System Approach}, booktitle = {Proc. Int. Works. Towards Intelligent Robotic Manipulation}, year = {2002}, month = {September}, publisher = {IEEE/RSJ IROS}, organization = {IEEE/RSJ IROS}, address = {Lausanne}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and A. Bicchi}, editor = {C. Melchiorri and P. J. Sanz and R. Molfino} } @article {1409, title = {Set-membership acoustic tracking of autonomous underwater vehicles}, journal = {ACTA ACUSTICA UNITED WITH ACUSTICA}, volume = {88}, year = {2002}, pages = {648{\textendash}652}, keywords = {Robotics}, issn = {1610-1928}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @article {BP00-Robotica, title = {Analysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems}, journal = {Robotica}, volume = {18}, year = {2000}, month = {January}, pages = {23-31}, keywords = {Haptics, Physical Human-Robot Interaction (pHRI), Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @conference {BCP00, title = {Localization Of Vehicles By Sensory Information}, booktitle = {Proc. WAC Int. Symp. on Robotics and Applications}, year = {2000}, month = {June}, pages = {68-73}, keywords = {Autonomous Vehicles, Localization and Mapping, Nonlinear Control Systems, Sensors}, author = {A. Bicchi and F. Conticelli and D Prattichizzo} } @article {BP00, title = {Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms}, journal = {IEEE Trans. Robotics and Automation}, volume = {16}, number = {4}, year = {2000}, month = {August}, pages = {336-345}, keywords = {Grasping, Manipulability, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @conference {CPGB00, title = {Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, pages = {2771-2776}, address = {San Francisco, CA, USA}, keywords = {Autonomous Vehicles, Nonlinear Control Systems, Sensors and Observers, visual servoing}, author = {F. Conticelli and D Prattichizzo and F. Guidi and A. Bicchi} } @conference {BMP99, title = {Dexterity through rolling: Manipulation of unknown objects}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {1583-1568}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and A. Marigo and D Prattichizzo} } @conference {BCP99, title = {Optimal Design of Dynamic Multiaxis Force/Torque Sensors}, booktitle = {Proc. IEEE Int. Conference on Decision and Control}, year = {1999}, pages = {2981-2986}, abstract = {The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @conference {PMBV98, title = {Active Suspensions Decoupling by Algebraic Output Feedback}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Embedded Control, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @article {PB98, title = {Dynamic Analysis of Mobility and Graspability of General Manipulation Systems}, journal = {IEEE Trans. on Robotics and Automation}, volume = {14}, number = {2}, year = {1998}, pages = {241-258}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and A. Bicchi} } @conference {PMBV98-CCA, title = {Geometric Disturbance Decoupling Control of Vehicles with Active Suspensions}, booktitle = {Proc. IEEE Conf. on Control Applications}, year = {1998}, pages = {253-257}, keywords = {Automotive, Autonomous Vehicles}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BP98, title = {Manipulability of Cooperating Robots with Passive Joints}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1998}, pages = {1038-1043}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @conference {BPMB98, title = {On the observability of mobile vehicles localization}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, abstract = {

In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non{\textendash}observable, while results obtained from differential{\textendash}geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.

}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {A. Bicchi and D Prattichizzo and A. Marigo and A. Balestrino} } @conference {BPA98, title = {Optimization of Internal Forces in Force-Closure Grasps}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo and G. Antognetti} } @article {PB97, title = {Consistent Specification of Manipulation Tasks for Defective Mechanical Systems}, journal = {ASME Jour. Dynam. Systems, Measurement, and Control}, volume = {119}, year = {1997}, month = {December}, pages = {767-777}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and A. Bicchi} } @conference {PMBV97-SYROCO, title = {On the Decoupling and Output Functional Controllability of Robotic Manipulation}, booktitle = {Proc. IFAC Int. Symp. on Robot Control}, year = {1997}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BCP97-ICAR, title = {Dynamic force/torque sensors: theory and experiments }, booktitle = {Proc. Int. Conference on Advanced Robotics}, year = {1997}, pages = {727-732}, address = {Monterey, CA, USA}, abstract = {

Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @conference {BPM97, title = {Force and Dynamic Manipulability for Cooperating Robot Systems}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1997}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo and C. Melchiorri} } @conference {PMBV97-CDC, title = {On the Geometric Control of Internal Forces in Power Grasp}, booktitle = {Proc. Conf. on Decision and Control}, year = {1997}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {PMBV97-CIS, title = {Geometric Control Techniques for Manipulation Systems}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @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} } @conference {BBPG97, title = {Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and D Prattichizzo and A. Gorelli} } @conference {BCP97, title = {Optimal Design of Dynamic Force/Torque Sensors}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @inbook {BMP99-CPRA, title = {Robotic Dexterity via Nonholonomy}, booktitle = {Control Problems in Robotics and Automation}, series = {LNCIS 230}, year = {1997}, pages = {35-49}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and A. Marigo and D Prattichizzo}, editor = {B. Siciliano and K. Valavanis} } @inbook {CMPB97, title = {Rolling Polyhedra on a Plane: Analysis of the Reachable Set}, booktitle = {Algorithms for Robotic Motion and Manipulation}, year = {1997}, pages = {277-286}, publisher = {A. K. Peters}, organization = {A. K. Peters}, address = {Wellesley, MA, U.S.A.}, keywords = {Embedded Control, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {J.P. Laumond and M. Overmars} } @inbook {BP97, title = {On some structural properties of general manipulation systems}, booktitle = {Modelling and Control of Mechanichal Systems}, year = {1997}, pages = {187-202}, publisher = {Imperial College Press}, organization = {Imperial College Press}, address = {London, U.K.}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo}, editor = {A. Astolfi and D. J. N. Limebeer and C. Melchiorri and A. Tornamb\èe and R.B. Vinter} } @inbook {PSB96, title = {Contact and Grasp Robustness Measures: Analysis and Experiments}, booktitle = {Experimental Robotics-IV}, series = {LNCIS 223}, year = {1996}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, abstract = {

In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so\–called {\textquoteleft}{\textquoteleft}Instrumented Talon\&$\#$39;\&$\#$39;, are reported as an illustration.

}, keywords = {Grasping, Haptics, Robot Hands}, author = {D Prattichizzo and J. K. Salisbury and A. Bicchi}, editor = {O. Khatib and K. Salisbury} } @conference {BCMP96, title = {Dexterity through Rolling: Towards Manipulation of Unknown Objects}, booktitle = {Proc. Third Int. Symp. on Methods and Models for Automation and Robotics}, year = {1996}, address = {Miedzyzdroje, Poland}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and Y. Chitour and A. Marigo and D Prattichizzo} } @conference {PMBV96, title = { Noninteracting force/motion control of defective manipulation systems }, booktitle = {Proc. Conf. on Decision and Control}, year = {1996}, keywords = {Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @inbook {CMPB96, title = {Reachability of Rolling Parts}, booktitle = {Advances in Robotics: The ERNET Perspective}, year = {1996}, pages = {51-60}, publisher = {World Scientific Publisher Corp.}, organization = {World Scientific Publisher Corp.}, address = {Singapore}, keywords = {Haptics, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {C. Bonivento and C. Melchiorri and H. Tolle} } @conference {BBCP96, title = {Reflex Control of Locomotion for a Four-Legged Vehicle with Leg Redundancy}, booktitle = {Proc. IFAC World Congress}, year = {1996}, keywords = {Autonomous Vehicles, Legged Vehicles}, author = {A. Balluchi and A. Bicchi and G. Casalino and D Prattichizzo} } @conference {PB96, title = {Specifying Consistent Control Goals for Kinematically Defective Manipulation Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, keywords = {Robot Arms, Robot Hands}, author = {D Prattichizzo and A. Bicchi} } @conference {BPS95, title = {Planning Motions of Rolling Surfaces}, booktitle = {Proc. IEEE Conf. on Decision and Control}, year = {1995}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and D Prattichizzo and S. S. Sastry} } @conference {BP95, title = {A Standard Form for the Dynamics of General Manipulation Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1995}, pages = {2810-2815}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @conference {PPB94, title = {Articulated Structures with Tendon Actuation for Whole-Limb Manipulation}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1994}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {P. Petreschi and D Prattichizzo and A. Bicchi} } @conference {BPP94, title = {Control of manipulation with dextrous hands}, booktitle = {Proc. IFAC Int. Symposium on Robot Control}, year = {1994}, publisher = {Elsevier Science, Oxford, UK}, organization = {Elsevier Science, Oxford, UK}, address = {Capri}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and P. Petreschi and D Prattichizzo} } @conference {BP94, title = {Controllability of whole-arm manipulation}, booktitle = {Proc. Int. Conf. Decision and Control}, year = {1994}, pages = {373-374}, keywords = {Haptics, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=410900}, author = {A. Bicchi and D Prattichizzo} } @inbook {BP93, title = {New Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation}, booktitle = {Robotics, Mechatronics and Manufacturing Systems}, year = {1993}, pages = {373-3790}, publisher = {North Holland}, organization = {North Holland}, address = {Amsterdam}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo}, editor = {T. Takamori and K. Tsuchiya} } @conference {PBC93, title = {Statically Stable Legged Locomotion with Leg Redundancy}, booktitle = {Proc. IASTED Int. Conf. on Robotics and Manufacturing}, year = {1993}, publisher = {IASTED}, organization = {IASTED}, address = {Oxford, UK, september 23-25 1993}, keywords = {Embedded Control, Robotics}, issn = {O-88986-179-X}, author = {D Prattichizzo and A. Bicchi and G. Casalino} } @conference {BBLP93, title = {A variable structure approach to force/motion control of robot manipulators}, booktitle = {Proc. Int. Conf. FAST - BIAS}, year = {1993}, address = {Milan, Italy, November 23-25 1993}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Landi and D Prattichizzo} }