@article {BSB93-IJRR, title = {Contact Sensing from Force and Torque Measurements}, journal = {The Int. J. of Robotics Research}, volume = {12}, number = {3}, year = {1993}, pages = {249-262}, keywords = {Haptics, Robot Hands, Sensors}, author = {A. Bicchi and J. K. Salisbury and D. L. Brock} }