%0 Journal Article %J Autonomous Robots [special issue on RSS2010] %D 2011 %T On the Role of Hand Synergies in the Optimal Choice of Grasping Forces %A M Gabiccini %A A. Bicchi %A D Prattichizzo %A M. Malvezzi %K Haptics %K Robotics %B Autonomous Robots [special issue on RSS2010] %V 31 %P 235 - 252 %G eng %R 10.1007/s10514-011-9244-1