... force for the CMOS force sensor that taking two sensors random. Sensors, Focus on Tactile, Force and Stress Sensors 30 gravitational forces i+1Fi+1 acting at the COM of the first and ... based on joint torque control, Proceedings of IEEE Conf. Decision and Control, pp. 88-94, ISSN 0191-2216, Albuquerque, December 1980, IEEE Press. Sensors, Focus on Tactile, Force and Stress Sensors ... specifications of the 6-axis force sensors Sensors, Focus on Tactile, Force and Stress Sensors 36 arm. Proceedings of IEEE Int. Symposium on Robot and Human Interactive Communication (RO-MAN),...