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Akbari, Hossein; Kazerooni, Afshin . (2018). Improving the coupling errors of a Maltese cross-beams type six-axis force/moment sensor using numerical shape-optimization technique. Measurement, 126(), 342–355. doi:10.1016/j.measurement.2018.05.074 
10.1016/j.measurement.2018.05.074