@conference {GB10,
	title = {A Non-invasive Real-Time Method for Measuring Variable Stiffness},
	booktitle = {Robotics Science and Systems},
	year = {2010},
	month = {June},
	address = {Zaragoza, Spain},
	keywords = {Robotics},
	author = {G. Grioli and A. Bicchi}
}
