@article {prats10a,
	title = {A Framework for Compliant Physical Interaction: the grasp meets the task},
	journal = {Autonomous Robots},
	volume = {28},
	number = {1},
	year = {2010},
	pages = {89-111},
	author = {Prats, Mario and Sanz, Pedro J. and del Pobil, Angel P.}
}
