Multi-axis Force Sensor Using Piezoresistors and a Plate-Like Structure. - Hirotoshi Eguchi; Hiroshi Yamazaki; Jun-ichi Takahashi; Daisuke Kosaka; Shoji Matsumoto; Takashi Akahori; Eiichi Ohta; Yuhji Kimura; Kouji Izumi (IROS, 1988)