6HIROSE S, YONEDA K. Development of optical six-axial force sensor and its signal calibration considering nonlinear interference [C]//Proceedings of /EEE International Conference on Robotics and Automation. Washington,DC:IEEE,1990: 46-53.
7BEYELER F, MUNTWYLER S, NELSON B J. A six-axis MEMS force-torque sensor with micro-newton and nano-new- tonmeter resolution [J]. Journal of Microelectromechanical Systems, 2009, 18 (2) :433-441.
8BAUDENDISTEL T A. Development of a novel magnetostrietive force sensor [D]. Ohio:Universlty of Dayton, 2005.
9RANGANATH R, NAIR P S, MRUTHYUNJAYA T S. A force-torque sensor based on a stewart Platform in a near-sin- gular configuration [J]. Mechanism and Machine Theory, 2004, 39(9): 971-998.
10LIANG Q,ZHANG D. A potential 4-D fingertip force sensor for an underwater robot manipulator [J]. IEEE Journal of Oceanic Engineering, 2010, 35(3):574-583.
