@inbook {BSB93, title = {Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors}, booktitle = {Experimental Robotics-III}, series = {LNCIS 190}, year = {1993}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and J. K. Salisbury and D. L. Brock}, editor = {R. Chatila and G. Hirzinger} }