Kevin Egan, Stephen Berard, Jeffrey C. Trinkle. Toward Sensorless Acquisition of Multiple Contact Points Between Planar Parts. In Federico Barbagli, Domenico Prattichizzo, Kenneth Salisbury, editors, Multi-point Interaction with Real and Virtual Objects. Volume 18 of Springer Tracts in Advanced Robotics, pages 113-130, Springer, 2005. [doi]
Abstract is missing.