Eris Chinellato Antonio Morales Pedro Sanz Valero Angel P. Del Pobil Validation of Features for Characterizing Robot Grasps. 193-200 http://springerlink.metapress.com/openurl.asp?genre=article&issn=0302-9743&volume=2687&spage=193 2003 conf/iwann/2003-2 IWANN (2) db/conf/iwann/iwann2003-2.html#ChinellatoMVP03