Design and fabrication of miniaturized force sensor with quartz crystal resonators. - Yu-Ching Lin; Ayumi Asakura; Toshio Fukuda; Fumihito Arai (IROS, 2007)

Design, fabrication and characterization of compact force sensor using AT-cut quartz crystal resonators. - Ayumi Asakura; Toshio Fukuda; Fumihito Arai (IROS, 2008)

Compact Force Sensor Using AT-Cut Quartz Crystal Resonator Supported by Novel Retention Mechanism. - Keisuke Narumi; Ayumi Asakura; Toshio Fukuda; Fumihito Arai (J. Robotics Mechatronics, 2009)