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In advanced robotic applications where a physical interaction of the robot with the environment takes place, the measurement of interaction forces is of basic importance for a safe execution of the desired tasks. In this paper, a novel 'stress' sensor is presented and its basic characteristics illustrated and discussed. Among its positive features, one may find the very compact size, good electrical properties, and the fact that it can be easily 'constructed' directly on the mechanical part bydoi:10.1109/robot.2002.1014780 dblp:conf/icra/BiagiottiGMR02 fatcat:5j4xczrlije3td7rw7gybmfnni