@inproceedings{Hein.2006,
 author = {Hein, A. and Lenze, C. and Brell, M.},
 title = {Preliminary Evaluation of a Force-Sensing Human-Machine Interface for an Interactive Robotic System},
 publisher = {Ieee},
 booktitle = {Procedings of the IEEE / RSJ International Conference on Intelligent Robots and Systems},
 year = {2006},
 pages = {983–988},
 doi = {10.1109/IROS.2006.281779},
 isbn = {1-4244-0258-1},
 url = {https://ieeexplore.ieee.org/document/4058491?arnumber=4058491},
}