@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}
}
@conference {BSD89,
	title = {Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing},
	booktitle = {Proc. IEEE Conf. on Robotics and Automation},
	year = {1989},
	address = {Scottsdale, AZ, USA},
	keywords = {Grasping, Haptics, Robot Hands, Sensors},
	author = {A. Bicchi and J. K. Salisbury and P. Dario}
}
