Publications by Raffaella Carloni 2017 -- Stefan S. Groothuis, Stefano Stramigioli, Raffaella CarloniModeling Robotic Manipulators Powered by Variable Stiffness Actuators: A Graph-Theoretic and Port-Hamiltonian Formalism 2010 -- Martin Wassink, Raffaella Carloni, Stefano StramigioliPort-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping