@conference {PMB10, title = {On motion and force controllability of grasping hands with postural synergies}, booktitle = {Proceedings of Robotics: Science and Systems}, year = {2010}, month = {June}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and M. Malvezzi and A. Bicchi} }