%0 Conference Paper %B International Workshop on Human-Friendly Robotics %D 2016 %T Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies %A C. Piazza %A C. Della Santina %A M. G. Catalano %A G. Grioli %A M. Garabini %A A. Bicchi %B International Workshop on Human-Friendly Robotics