@article {1821,
	title = {Grasp Analysis Tools for Synergistic Underactuated Robotic Hands},
	journal = {International Journal of Robotic Reasearch},
	volume = {32},
	year = {2013},
	month = {11/2013},
	pages = {1553 - 1576},
	keywords = {Haptics, Robotics},
	author = {M Gabiccini and E. Farnioli and A. Bicchi}
}
