Contact force and joint torque estimation using skin. Chavez, F. J. A., Kangro, J., Traversaro, S., Nori, F., & Pucci, D. IEEE Robotics and Automation Letters, 3(4):3900–3907, IEEE, 2018.
bibtex   
@article{chavez2018contact,
  title={Contact force and joint torque estimation using skin},
  author={Chavez, Francisco Javier Andrade and Kangro, Joan and Traversaro, Silvio and Nori, Francesco and Pucci, Daniele},
  journal={IEEE Robotics and Automation Letters},
  volume={3},
  number={4},
  pages={3900--3907},
  year={2018},
  publisher={IEEE}
}

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