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M.  Bianchi, Averta, G., Battaglia, E., Rosales, C., Bonilla, M., Tondo, A., Poggiani, M., Santaera, G., Ciotti, S., Catalano, M. G., and Bicchi, A., ?Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond?, in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018. 

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