@article {BP00-Robotica, title = {Analysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems}, journal = {Robotica}, volume = {18}, year = {2000}, month = {January}, pages = {23-31}, keywords = {Haptics, Physical Human-Robot Interaction (pHRI), Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} }