@INPROCEEDINGS{hang2016a, 
author={K. Hang and J. A. Haustein and M. Li and A. Billard and C. Smith and D. Kragic}, 
booktitle={2016 IEEE International Conference on Robotics and Automation (ICRA)}, 
title={On the evolution of fingertip grasping manifolds}, 
year={2016}, 
pages={2022-2029},  
month={May},}