@Article{wong:thms:2022,
  author    = {Wong, Christopher, Yee and Samadi, Saeid and Suleiman, Wael and Kheddar, Abderrahmane},
  title     = {Touch Semantics for Intuitive Physical Manipulation of Humanoids},
  journal   = {IEEE Transactions on Human-Machine Systems},
  year      = {2022},
  volume    = {52},
  number    = {6},
  pages     = {1111--1121},
  month     = {December},
  doi       = {10.1109/THMS.2022.3207699},
  url       = {https://ieeexplore.ieee.org/document/9911943},
  publisher = {IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC},
  address   = {445 HOES LANE, PISCATAWAY, NJ 08855-4141 USA}
}