%0 Journal Article %J IEEE Robotics and Automation Letters %D 2019 %T Exploiting Adaptability in Soft Feet for Sensing Contact Forces %A D. Mura %A C. Della Santina %A C. Piazza %A I. Frizza %A C. Morandi %A M. Garabini %A G. Grioli %A M. G. Catalano %B IEEE Robotics and Automation Letters %V 5 %8 11/2019 %G eng %U https://ieeexplore.ieee.org/document/8894422 %N 2 %& 391 %R https://doi.org/10.1109/LRA.2019.2952292