An Approach to Contact Force Vector Determination and Its Implementation to Provide Intelligent Tactile Interaction with Environment.

Dzmitry Tsetserukou Naoki Kawakami Susumu Tachi An Approach to Contact Force Vector Determination and Its Implementation to Provide Intelligent Tactile Interaction with Environment. 151-156 2008 EuroHaptics http://dx.doi.org/10.1007/978-3-540-69057-3_17 conf/haptics/2008e db/conf/haptics/eurohaptics2008.html#TsetserukouKT08