Force Sensing for Multi-point Contact Using a Constrained, Passive Joint Based on the Moment-Equivalent Point
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Publisher
Springer International Publishing
Link
http://link.springer.com/content/pdf/10.1007/978-3-030-01370-7_31
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4. Salisbury, J.: Interpretation of contact geometries from force measurements. In: IEEE International Conference on Robotics and Automation, Proceedings, vol. 1, pp. 240–247. IEEE (1984)
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