A directional deflection sensor beam for very small force/torque measurement. - Koyu Abe; Yusuke Tanida; Atsushi Konno; Masaru Uchiyama (IROS, 2003)

A plantar H-slit force sensor for humanoid robots to detect the reaction forces. - Atsushi Konno; Yusuke Tanida; Koyu Abe; Masaru Uchiyama (IROS, 2005)

Structural Analysis of Directional Deflection Beams. - Koyu Abe; Yusuke Tanida; Masaru Uchiyama (J. Robotics Mechatronics, 2005)