%0 Book Section %B Modelling and Control of Mechanichal Systems %D 1997 %T On some structural properties of general manipulation systems %A A. Bicchi %A D Prattichizzo %E A. Astolfi %E D. J. N. Limebeer %E C. Melchiorri %E A. Tornambèe %E R.B. Vinter %K Haptics %K Robotics %B Modelling and Control of Mechanichal Systems %I Imperial College Press %C London, U.K. %P 187-202 %G eng