@ARTICLE{9794929,
  author={Lu, Zeyu and Gao, Xingyu and Yu, Haoyong},
  journal={IEEE Sensors Journal}, 
  title={GTac: A Biomimetic Tactile Sensor With Skin-Like Heterogeneous Force Feedback for Robots}, 
  year={2022},
  volume={22},
  number={14},
  pages={14491-14500},
  doi={10.1109/JSEN.2022.3181128}}