@inproceedings{feix2009,
    author = {T.~Feix and R.~Pawlik and H.~Schmiedmayer and J.~Romero and D.~Kragic},
    booktitle = {Robotics, Science and Systems: Workshop on Understanding the Human Hand for Advancing Robotic Manipulation},
    month = {June},
    title = {A Comprehensive Grasp Taxonomy},
    year = {2009},
    url = {http://grasp.xief.net}
}