%0 Conference Paper %B 2011 IEEE International Conference on Robotics and Automation %D 2011 %T Dynamic Optimization of Tendon Tensions in Biomorphically Designed Hands with Rolling Constraints %A M Gabiccini %A M. Branchetti %A A. Bicchi %K Haptics %K Robotics %B 2011 IEEE International Conference on Robotics and Automation %C Shangai, China %P 2698 - 2704 %8 May 9 - 13 %G eng