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2. Y. Hatamura: Development of Six-Axis Force Sensor, Preprint of the Japan Society of Mechanical Engineers, Sept. 28, 84, pp.94–96 (In Japanese)
3. M Dubois Etalonnage de Dynamomtres et de Balances au Centre d’Essais de Modane-Avrieux, ONERA T.P. No.452, ‘67, pp.1–20 obotics must satisfy the following conditions