@article {3751, title = {Exploiting Adaptability in Soft Feet for Sensing Contact Forces}, journal = { IEEE Robotics and Automation Letters}, volume = {5}, year = {2019}, month = {11/2019}, chapter = {391}, doi = {https://doi.org/10.1109/LRA.2019.2952292}, url = {https://ieeexplore.ieee.org/document/8894422}, author = {D. Mura and C. Della Santina and C. Piazza and I. Frizza and C. Morandi and M. Garabini and G. Grioli and M. G. Catalano} }