Claudio Castellini P. Patrick van der Smagt Giulio Sandini Gerd Hirzinger Surface EMG for force control of mechanical hands. 725-730 2008 ICRA http://dx.doi.org/10.1109/ROBOT.2008.4543291 conf/icra/2008 db/conf/icra/icra2008.html#CastelliniSSH08