Noh, Yohan, Han, Sangjin, Gawenda, Pawel, Li, Wanlin, Sareh, Sina and Rhode, Kawal, 2019, Journal Article, A Contact Force Sensor based on S-shaped Beams and Optoelectronic Sensors for Flexible Manipulators for Minimally Invasive Surgery (MIS) IEEE Sensors Journal, 20 (7). pp. 3487-3495. ISSN 1530-437X