%0 Journal Article %J Robotics and Autonomous Systems, special issue on Autonomous Grasping %D 2012 %T On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems %A D Prattichizzo %A M. Malvezzi %A M Gabiccini %A A. Bicchi %K Haptics %K Robotics %B Robotics and Autonomous Systems, special issue on Autonomous Grasping %V 60 %P 337 - 346 %G eng %N 3 %R 10.1016/j.robot.2011.07.014