Vicente Parra-Vega Alejandro Rodríguez-Angeles Suguru Arimoto Gerd Hirzinger High Precision Constrained Grasping with Cooperative Adaptive Handcontrol. 235-254 2001 32 Journal of Intelligent and Robotic Systems 3 http://dx.doi.org/10.1023/A:1013987209547 db/journals/jirs/jirs32.html#Parra-VegaRAH01