Y.-G. Kim, J.-H. Kwak, D.-H. Hong, and J. An, “Miniaturized Force-Torque Sensor Built in a Robot End-Effector for Delicate Tool-Tip Gripping Control”, ELEKTRON ELEKTROTECH, vol. 20, no. 6, pp. 3–7, Jun. 2014, doi: 10.5755/j01.eee.20.6.7258.