@conference {1243, title = { Velvet fingers: A dexterous gripper with active surfaces}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {1257 - 1263 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {V. Tincani and M. G. Catalano and E. Farnioli and M. Garabini and G. Grioli and G Fantoni and A. Bicchi} }