%0 Conference Paper %B Proceedings of Robotics: Science and Systems %D 2010 %T On motion and force controllability of grasping hands with postural synergies %A D Prattichizzo %A M. Malvezzi %A A. Bicchi %K Haptics %K Robotics %B Proceedings of Robotics: Science and Systems %C Zaragoza, Spain %8 June %G eng