%0 Journal Article %J IEEE Robotics and Automation Letters %D 2018 %T Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning %A G. Averta %A F. Angelini %A M. Bonilla %A M. Bianchi %A A. Bicchi %K 19-DoF anthropomorphic hand %K Biomechanics %K common grasping tasks %K compliant joint/mechanism %K covariance matrices %K experimental covariance matrix %K Force %K force distribution %K grasp planning %K Grasping %K grippers %K hand posture reconstruction %K hand-object relative pose %K incremental learning algorithm %K Jacobian matrices %K joint angle covariation patterns %K learning (artificial intelligence) %K minimisation %K multifingered hands %K pose estimation %K postural hand synergies %K postural synergies %K posture description %K principal component analysis %K reduced complexity representation %K relative statistical weight %K Robots %K Solid modeling %K synergy vectors %K Task analysis %B IEEE Robotics and Automation Letters %V 3 %P 2686-2693 %8 July %G eng %R 10.1109/LRA.2018.2829027