@article {BP00, title = {Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms}, journal = {IEEE Trans. Robotics and Automation}, volume = {16}, number = {4}, year = {2000}, month = {August}, pages = {336-345}, keywords = {Grasping, Manipulability, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} }