A tactile sensor system for revolute joints of manipulators. - Yoji Yamada; Kazuhisa Shin; Nuio Tsuchida; Mataji Komai (IROS, 1990)

A tactile sensor system for universal joint sections of manipulators. - Yoji Yamada; Kazuhisa Shin; Nuio Tsuchida; Mataji Komai (IEEE Trans. Robotics Autom., 1993)