@inbook {FSBB09_STAR,
	title = {Visual appearance mapping for optimal vision based servoing},
	series = {Springer Tracts in Advanced Robotics (STAR)},
	volume = {54 - Experimental Robotics},
	year = {2009},
	month = {March 28},
	pages = {353 - 362},
	publisher = {Springer},
	organization = {Springer},
	keywords = {Robotics},
	author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi},
	editor = {B. Siciliano and O. Khatib and Groen, F.}
}
@inbook {BTBP03,
	title = {Variable Stiffness Actuators for Fast and Safe Motion Control},
	booktitle = {Proceedings of the International Symposium on Robotics Research},
	series = {Springer Tracts in Advanced Robotics (STAR)},
	year = {2003},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	abstract = {<p>In this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.</p>
},
	keywords = {Robotics},
	author = {A. Bicchi and G. Tonietti and M. Bavaro and M. Piccigallo},
	editor = {B. Siciliano and O. Khatib and Groen, F.}
}
@inbook {PSB96,
	title = {Contact and Grasp Robustness Measures: Analysis and Experiments},
	booktitle = {Experimental Robotics-IV},
	series = {LNCIS 223},
	year = {1996},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg, Germany},
	abstract = {<p>In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so\&ndash;called {\textquoteleft}{\textquoteleft}Instrumented Talon\&$\#$39;\&$\#$39;, are reported as an illustration.</p>
},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {D Prattichizzo and J. K. Salisbury and A. Bicchi},
	editor = {O. Khatib and K. Salisbury}
}
