@conference {BG10,
	title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces},
	booktitle = {Robotics Science and Systems},
	year = {2010},
	month = {June, 27},
	address = {Zaragoza, Spain},
	keywords = {Haptics, Robotics},
	author = {M Gabiccini and A. Bicchi}
}
