%0 Journal Article %J The Int. J. of Robotics Research %D 1993 %T Contact Sensing from Force and Torque Measurements %A A. Bicchi %A J. K. Salisbury %A D. L. Brock %K Haptics %K Robot Hands %K Sensors %B The Int. J. of Robotics Research %V 12 %P 249-262 %G eng