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Lin, Qiao and Burdick, Joel W. and Rimon, Elon (2000) A stiffness-based quality measure for compliant grasps and fixtures. IEEE Transactions on Robotics and Automation, 16 (6). pp. 675-688. ISSN 1042-296X. http://resolver.caltech.edu/CaltechAUTHORS:LINieeetra00

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