Toward the design of a decoupled, two-dimensional, vision-based, micro-Newton force sensor,

D. Cappelleri, G. Krishnan, C. Kim, V. Kumar, and S. Kota, “Toward the design of a decoupled, two-dimensional, vision-based, micro-Newton force sensor,” Transactions of the ASME, Journal of Mechanisms and Robotics, 2010.