@article{DCG_1992__7_4_131197,
     author = {D. Kirkpatrick and B. Mishra and Chee-Keng Yap},
     title = {Quantitative {Steinitz's} {Theorems} with {Applications} to {Multifingered} {Grasping.}},
     journal = {Discrete & computational geometry},
     pages = {295--318},
     publisher = {mathdoc},
     volume = {7},
     number = {4},
     year = {1992},
     zbl = {0747.52004},
     url = {http://geodesic.mathdoc.fr/item/DCG_1992__7_4_131197/}
}