Shigeo Hirose, Kan Yoneda. Tri-axial force sensor using a split-type optical sensor. Advanced Robotics, 5(2):165-181, 1990. [doi]
@article{HiroseY90,
title = {Tri-axial force sensor using a split-type optical sensor},
author = {Shigeo Hirose and Kan Yoneda},
year = {1990},
doi = {10.1163/156855391X00142},
url = {http://dx.doi.org/10.1163/156855391X00142},
researchr = {https://researchr.org/publication/HiroseY90},
cites = {0},
citedby = {0},
journal = {Advanced Robotics},
volume = {5},
number = {2},
pages = {165-181},
}