A.  Bicchi, ?A Criterion for Optimal Design of Multiaxis Force Sensors?, Journal of Robotics and Autonomous Systems, vol. 10, pp. 269-286, 1992. 

A.  Bicchi, ?Intrinsic Contact Sensing for Soft Fingers?, in Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, USA, 1990. 

A.  Bicchi, Bergamasco, M., Dario, P., and Fiorillo, A., ?Integrated Tactile Sensing for Gripper Fingers?, in Proc. Int. Conf. on Robot Vision and Sensory Control, Zuerich, Switzerland, 1988.