TY - JOUR T1 - On the Role of Hand Synergies in the Optimal Choice of Grasping Forces JF - Autonomous Robots [special issue on RSS2010] Y1 - 2011 A1 - M Gabiccini A1 - A. Bicchi A1 - D Prattichizzo A1 - M. Malvezzi KW - Haptics KW - Robotics VL - 31 ER -