Minoru Hashimoto, Yoshihide Kiyosawa, Hideki Hirabayashi, Richard P. Paul. A joint torque sensing technique for robots with harmonic drives. In Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, CA, USA, 9-11 April 1991. pages 1034-1039, IEEE, 1991. [doi]
Abstract is missing.