@conference {GBSPB12, title = {Optimality Principles in Stiffness Control: The VSA Kick}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3341 - 3346 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} }