@ARTICLE{7346450, 
author={A. Cirillo and F. Ficuciello and C. Natale and S. Pirozzi and L. Villani}, 
journal={IEEE Robotics and Automation Letters}, 
title={A Conformable Force/Tactile Skin for Physical Human–Robot Interaction}, 
year={2016}, 
volume={1}, 
number={1}, 
pages={41-48}, 
keywords={collision avoidance;human-robot interaction;manipulator dynamics;skin;tactile sensors;sensorized flexible skin;physical human-robot interaction;intentional contacts;skin sensors;contact point position measurement;intuitive HRI;standard control strategies;manual guidance;unintentional collision detection;unintentional contacts;admittance control scheme;second order kinematic control;multiredundancy resolution strategy;sensor capabilities;KUKA LWR4 robot;conformable force-tactile skin;Robot sensing systems;Skin;Force;Estimation;Force measurement;Force and Tactile Sensing;Physical Human- Robot Interaction;Force and Tactile Sensing;Physical Human-Robot Interaction}, 
doi={10.1109/LRA.2015.2505061}, 
ISSN={2377-3766}, 
month={Jan},}