Control of contact forces: The role of tactile feedback for contact localization. Del Prete, A., Nori, F., Metta, G., & Natale, L. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 4048–4053, 2012. IEEE.
bibtex   
@inproceedings{del2012control,
  title={Control of contact forces: The role of tactile feedback for contact localization},
  author={Del Prete, Andrea and Nori, Francesco and Metta, Giorgio and Natale, Lorenzo},
  booktitle={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  pages={4048--4053},
  year={2012},
  organization={IEEE}
}

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