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Rimon, Elon and Burdick, Joel W. (1998) Mobility of bodies in contact. I. A 2nd-order mobility index formultiple-finger grasps. IEEE Transactions on Robotics and Automation, 14 (5). pp. 596-608. ISSN 1042-296X. http://resolver.caltech.edu/CaltechAUTHORS:RIMieeetra98a

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