@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}
}
@inbook {BSB93,
	title = {Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors},
	booktitle = {Experimental Robotics-III},
	series = {LNCIS 190},
	year = {1993},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg, Germany},
	keywords = {Haptics, Robotics},
	author = {A. Bicchi and J. K. Salisbury and D. L. Brock},
	editor = {R. Chatila and G. Hirzinger}
}
