%0 Journal Article %J International Journal of Robotics Research %D 2014 %T Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand %A M. G. Catalano %A G. Grioli %A E. Farnioli %A A. Serio %A C. Piazza %A A. Bicchi %K Haptics %K Robotics %B International Journal of Robotics Research %V 33 %P 768–782 %G eng %N 5 %R 10.1177/0278364913518998