@conference {BCP99,
	title = {Optimal Design of Dynamic Multiaxis Force/Torque Sensors},
	booktitle = {Proc. IEEE Int. Conference on Decision and Control},
	year = {1999},
	pages = {2981-2986},
	abstract = {The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part},
	keywords = {Sensors},
	author = {A. Bicchi and A. Caiti and D Prattichizzo}
}
@conference {BCP97-ICAR,
	title = {Dynamic force/torque sensors: theory and experiments },
	booktitle = {Proc. Int. Conference on Advanced Robotics},
	year = {1997},
	pages = {727-732},
	address = {Monterey, CA, USA},
	abstract = {<p>Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results</p>
},
	keywords = {Sensors},
	author = {A. Bicchi and A. Caiti and D Prattichizzo}
}
