@inbook {DBBF92,
	title = {Multiple Sensing for Dexterous End Effectors},
	booktitle = {Robots with redundancy: design, sensing and control},
	year = {1992},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg, Germany},
	keywords = {Haptics, Robotics},
	author = {P. Dario and M. Bergamasco and A. Bicchi and A. Fiorillo},
	editor = {A. K. Bejczy}
}
