@inbook {BSB93,
	title = {Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors},
	booktitle = {Experimental Robotics-III},
	series = {LNCIS 190},
	year = {1993},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg, Germany},
	keywords = {Haptics, Robotics},
	author = {A. Bicchi and J. K. Salisbury and D. L. Brock},
	editor = {R. Chatila and G. Hirzinger}
}
