# Bi-Modal Hemispherical Sensor: A Unifying Solution for Three Axis Force and Contact Angle Measurement

> Research article (2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019) · cited 14× · AI/ML

**Wikidata**: [openalex:W3003732806](https://www.wikidata.org/wiki/openalex:W3003732806)  
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