A.  Bicchi, ?A Criterion for Optimal Design of Multiaxis Force Sensors?, Journal of Robotics and Autonomous Systems, vol. 10, pp. 269-286, 1992. 

A.  Bicchi, ?Intrinsic Contact Sensing for Soft Fingers?, in Proc. IEEE Int. Conf. on Robotics and Automation, Cincinnati, OH, USA, 1990.