A.  Bicchi, ?Machine hand design for dexterity, robustness of grasp, and interaction with humans?. 2001. 

D.  Prattichizzo, Salisbury, J. K., and Bicchi, A., ?Contact and Grasp Robustness Measures: Analysis and Experiments?, in Experimental Robotics-IV, O.  Khatib and Salisbury, K., Eds. Berlin Heidelberg, Germany: Springer Verlag, 1996. 

A.  Bicchi, Salisbury, J. K., and Brock, D. L., ?Contact Sensing from Force and Torque Measurements?, The Int. J. of Robotics Research, vol. 12, pp. 249-262, 1993. 

A.  Bicchi, Salisbury, J. K., and Brock, D. L., ?Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors?, in Experimental Robotics-III, R.  Chatila and Hirzinger, G., Eds. Berlin Heidelberg, Germany: Springer Verlag, 1993. 

A.  Bicchi, Salisbury, J. K., and Dario, P., ?Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing?, in Proc. IEEE Conf. on Robotics and Automation, Scottsdale, AZ, USA, 1989.