%0 Journal Article %J ASME Jour. Dynam. Systems, Measurement, and Control %D 1997 %T Consistent Specification of Manipulation Tasks for Defective Mechanical Systems %A D Prattichizzo %A A. Bicchi %K Grasping %K Robot Arms %K Robot Hands %B ASME Jour. Dynam. Systems, Measurement, and Control %V 119 %P 767-777 %8 December %G eng