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ORCID5th BioRob 2014: Sao Paulo, Brazil
- 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2014, Sao Paulo, Brazil, August 12-15, 2014. IEEE 2014, ISBN 978-1-4799-3126-2
- Mostafa Hadavand, Michael D. Naish, Rajni V. Patel:
A parallel Remote Center of Motion mechanism for needle-based medical interventions. 1-6 - Momen Abayazid, Navid Shahriari, Sarthak Misra:
Three-dimensional needle steering towards a localized target in a prostate phantom. 7-12 - Anthony Agustinos, Rémi Wolf
, Jean-Alexandre Long, Philippe Cinquin, Sandrine Voros:
Visual servoing of a robotic endoscope holder based on surgical instrument tracking. 13-18 - Akira Bekku, Joonhwan Kim, Yoshikazu Nakajima, Kazuo Yonenobu:
A body-mounted surgical assistance robot for minimally invasive spinal puncture surgery. 19-23 - Álvaro García-Martínez, Luis Daniel Lledó, Francisco J. Badesa, Nicolás M. Garcia, José María Sabater-Navarro:
Integration of heterogeneous robotic systems in a surgical scenario. 24-27 - Daniel S. Yurkewich, Abelardo Escoto, Ana Luisa Trejos, Marie-Eve LeBel, Rajni V. Patel, Michael D. Naish:
Low-cost force-sensing arthroscopic tool using threaded fiber Bragg grating sensors. 28-33 - Wenjing Huang, Fumihito Arai, Tomohiro Kawahara:
Design and fabrication of cubic eggshell containing chick embryo for a novel biomedical platform. 34-39 - Reza Monfaredi, Reza Seifabadi, Iulian Iordachita, Raymond W. Sze, Nabile M. Safdar, Karun Sharma, Stanley Fricke, Axel Krieger, Kevin Cleary:
A prototype body-mounted MRI-compatible robot for needle guidance in shoulder arthrography. 40-45 - M. Fujii, S. Takazawa, Kanako Harada, Naohiko Sugita, Tetsuya Ishimaru, Tadashi Iwanaka, Mamoru Mitsuishi:
Relationship between workspace reduction due to collisions and distance between endoscope and target organ in pediatric endoscopic surgery. 46-51 - Mattias F. Traeger, Daniel B. Roppenecker, Brian Jensen, Salman Can, Alois C. Knoll, Tim C. Lueth:
Interdisciplinary concept of design, actuation, control and vision computing of a laser-sintered single-port robot. 52-57 - Thomas Howard, Jérôme Szewczyk:
Visuo-haptic feedback for 1-D guidance in laparoscopic surgery. 58-65 - Eric T. P. Santos, Idágene Aparecida Cestari:
Command interface and driving strategy for a voice activated en-doscope positioning arm. 66-69 - Andre A. Geraldes, Thiago S. Rocha:
A neural network approach for flexible needle tracking in ultrasound images using Kalman filter. 70-75 - Kostas Gianikellis, Andrew Skiadopoulos, Carlos Espino Palma, Francisco Miguel Sánchez-Margallo, José B. Pagador Carrasco, Juan Alberto Sánchez-Margallo:
A method to assess upper-body postural variability in laparoscopic surgery. 76-81 - Tarcísio Leão, Jeison Fonseca, Eduardo Bock, Rosa Sa, Bruno Utiyama, Evandro Drigo, Juliana Leme, Aron Andrade:
Speed control of the Implantable Centrifugal Blood Pump to avoid aortic valve stenosis: Simulation and implementation. 82-86 - Stefano Mazzoleni, G. Vagheggini, L. Buono, E. Panait Vlad, N. Ambrosino, Paolo Dario:
Diaphragmatic electromyography analysis during two different mechanical ventilation techniques in patients with neuromuscular diseases. 87-90 - T. Sono, L. Menegaldo, M. Pinotti:
Hand prosthesis prototype controlled by EMG and vibrotactile force feedback. 91-95 - Daniel P. Saldias, Luiz A. Radavelli, Carlos R. M. Roesler, Daniel Martins:
Kinematic synthesis of the passive human knee joint by differential evolution and quaternions algebra: A preliminary study. 96-101 - Marina A. Rebelo, Ramon Alfredo Moreno, Riccardo Gomes Gobbi, Gilberto Luis Camanho, Luiz Francisco Rodrigues de Ávila, Marco Kawamura Demange, Jose Ricardo Pecora, Marco Antonio Gutierrez:
Estimation of 3D biomechanics parameters of patellar movement using dynamic CT images. 102-107 - Claudia Ochoa-Diaz, Thiago S. Rocha, Lucas de Levy Oliveira, Miguel G. Paredes, Rafael Lima, Antônio Padilha Lanari Bó, Geovany A. Borges:
An above-knee prosthesis with magnetorheological variable-damping. 108-113 - Luke Osborn, Wang Wei Lee, Rahul R. Kaliki, Nitish V. Thakor:
Tactile feedback in upper limb prosthetic devices using flexible textile force sensors. 114-119 - Andrea Collo, Philippe Poignet, Chafiaâ Hamitouche, Shaban Almouahed, Eric Stindel:
An active tibial component for postoperative fine-tuning adjustment of knee ligament imbalance. 126-131 - Evandro M. Ficanha, Ruiyu Kang, Mohammad Rastgaar:
Ankle kinematics describing gait agility: Considerations in the design of an agile ankle-foot prosthesis. 132-137 - Ren C. Luo, Jui Wang, Chih-Kang Chang, Yi-Wen Perng:
Surgeon's third hand: An assistive robot endoscopic system with intuitive maneuverability for laparoscopic surgery. 138-143 - A. Gijbels, Emmanuel B. Vander Poorten, Benjamin Gorissen, Alain Devreker, Peter Stalmans, Dominiek Reynaerts:
Experimental Validation of a Robotic Comanipulation and Telemanipulation System for Retinal Surgery. 144-150 - Mahmoud E. Alshafeei, Abdelrahman Hosney, Anke Klingner, Sarthak Misra, Islam S. M. Khalil:
Magnetic-based motion control of a helical robot using two synchronized rotating dipole fields. 151-156 - Ana Luisa Trejos, Abelardo Escoto, Dustin Hughes, Michael D. Naish, Rajni V. Patel:
A sterilizable force-sensing instrument for laparoscopic surgery. 157-162 - Ran Xu, Seyed Farokh Atashzar, Rajni V. Patel:
Kinematic instability in concentric-tube robots: Modeling and analysis. 163-168 - Alonso Sánchez, Veronika Magdanz, Oliver G. Schmidt, Sarthak Misra:
Magnetic control of self-propelled microjets under ultrasound image guidance. 169-174 - Paolo Tommasino, Lorenzo Masia, Welihena G. K. C. Gamage, Muhammad Azhar, Charmayne M. L. Hughes, Domenico Campolo:
H-Man: Characterization of a novel, portable, inexpensive planar robot for arm rehabilitation. 175-180 - Samir Menon, Sam Fok, Alexander Neckar, Oussama Khatib, Kwabena Boahen:
Controlling articulated robots in task-space with spiking silicon neurons. 181-186 - Joan Lobo-Prat, Peter N. Kooren, Arvid Q. L. Keemink, Micha I. Paalman, Edsko E. G. Hekman, Peter H. Veltink, Arno H. A. Stienen, Bart F. J. M. Koopman:
Design and control of an experimental active elbow support for adult Duchenne Muscular Dystrophy patients. 187-192 - Damiano Zanotto, Luca Turchet, Emily Marie Boggs, Sunil K. Agrawal:
SoleSound: Towards a novel portable system for audio-tactile underfoot feedback. 193-198 - Claudio Castellini, Vikram Ravindra:
A wearable low-cost device based upon Force-Sensing Resistors to detect single-finger forces. 199-203 - Maziar Ahmad Sharbafi, André Seyfarth:
Stable running by leg force-modulated hip stiffness. 204-210 - Aline A. Gomes, Arturo Forner-Cordero, Marko Ackermann, Isabel C. N. Sacco:
Dynamic simulation of hip strategy of diabetic neuropathic individuals during gait. 211-215 - Luis Filipe Rossi, Sergio T. Rodrigues, Arturo Forner-Cordero:
Do humans walk like robots when crossing an obstacle without visual information? 216-220 - Yukitoshi Minami Shiguematsu, Przemyslaw Kryczka, Kenji Hashimoto, Hun-ok Lim, Atsuo Takanishi:
Heel-contact toe-off walking model based on the Linear Inverted Pendulum. 221-226 - Luca Tausel, Carlos A. Cifuentes, Camilo Rodriguez, Anselmo Frizera, Teodiano Freire Bastos Filho:
Human-walker interaction on slopes based on LRF and IMU sensors. 227-232 - Masaki Chino, Yoshikazu Nakajima, Akira Bekku, Hiroyuki Tsuda, Tomomi Kotani, Fumitaka Kikkawa:
An obstetric forceps contouring the head surface to improve gripping capability in delivery assistance. 233-237 - Margherita Mencattelli, Elisa Donati, Massimo Cultrone, Cesare Stefanini:
Customized load cell for three-dimensional force-moment measurements in orthodontics. 238-243 - Berk Gonenc, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita:
Motorized force-sensing micro-forceps with tremor cancelling and controlled micro-vibrations for easier membrane peeling. 244-251 - Xingchi He, Peter Gehlbach, James Handa, Russell H. Taylor, Iulian Iordachita:
Development of a miniaturized 3-DOF force sensing instrument for robotically assisted retinal microsurgery and preliminary results. 252-258 - Muyinatu A. Lediju Bell, H. Tutkun Sen, Iulian Iordachita, Peter Kazanzides:
Force-controlled ultrasound robot for consistent tissue pre-loading: Implications for acoustic radiation force elasticity imaging. 259-264 - Stefano Mazzoleni, L. Buono, Dario Dario, Federico Posteraro:
Upper limb robot-assisted therapy in subacute and chronic stroke patients: Preliminary results on initial exposure based on kinematic measures. 265-269 - Keitaro Koba, Kenta Murakami, Takanori Oku, Kanna Uno, Pipatthana Phatiwuttipat, Yuto Yamashita, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki:
Tacit representation of muscle activities during coordination training: Muscle synergy analysis to visualize motor enhancement in virtual trajectory of multi-joint arm movement. 270-275 - Viviane C. R. Appel, Valdinei Luís Belini, Denny H. Jong, Daniel Varela Magalhães, Glauco Augusto de Paula Caurin:
Classifying emotions in rehabilitation robotics based on facial skin temperature. 276-280 - Arturo Forner-Cordero, Cinthia Itiki, Rafael Sanchez Souza, Joao Carlos M. C. Lourenco, Hermano Igo Krebs:
Experimental assessment of gait with rhythmic auditory perturbations. 282-286 - Dalia De Santis, Jacopo Zenzeri, Lorenzo Masia, Valentina Squeri, Pietro Morasso:
Exploiting the link between action and perception: Minimally assisted robotic training of the kinesthetic sense. 287-292 - Mehmet Alper Ergin, Markus Kuhne, Axel Thielscher, Angelika Peer:
Design of a new MR-compatible haptic interface with six actuated degrees of freedom. 293-300 - Alexandre Krupa:
A new duty-cycling approach for 3D needle steering allowing the use of the classical visual servoing framework for targeting tasks. 301-307 - Mahta Khoshnam, Rajni V. Patel:
Robotics-assisted catheter manipulation for improving cardiac ablation efficiency. 308-313 - Pedro Moreira, Gert van de Steeg, Ferdi van der Heijden, Jurgen J. Fütterer, Sarthak Misra:
A preliminary evaluation of a flexible needle steering algorithm using magnetic resonance images as feedback. 314-319 - Maxime Latulippe, Sylvain Martel:
Dipole Field Navigation for targeted drug delivery. 320-325 - Zheng Li, Ruxu Du, Haoyong Yu, Hongliang Ren:
Statics modeling of an underactuated wire-driven flexible robotic arm. 326-331 - Paul Wilkening, Wade Chien, Berk Gonenc, John K. Niparko, Jin U. Kang, Iulian Iordachita, Russell H. Taylor:
Evaluation of virtual fixtures for robot-assisted cochlear implant insertion. 332-338 - Murilo M. Marinho, Mariana C. Bernardes, Antônio Padilha Lanari Bó:
A programmable remote center-of-motion controller for minimally invasive surgery using the dual quaternion framework. 339-344 - Pål Johan From, Jang Ho Cho, Anders Robertsson, Tomohiro Nakano, M. Mahdi Ghazaei Ardakani, Rolf Johansson:
Hybrid stiff/compliant workspace control for robotized minimally invasive surgery. 345-351 - R. Cau, F. B. F. Schoenmakers, Maarten Steinbuch, T. J. M. van Mulken, René R. W. J. van der Hulst:
Design and preliminary test results of a novel microsurgical telemanipulator system. 352-356 - George Dikaiakos, Antonia Tzemanaki, Anthony G. Pipe, Sanja Dogramadzi:
Mechatronic implementation in minimally invasive surgical instruments. 357-362 - Diego Pardo, Loris Fichera, Darwin G. Caldwell, Leonardo S. Mattos:
Thermal supervision during robotic laser microsurgery. 363-368 - Antonia Tzemanaki, Thomas M. W. Burton, David Gillatt, Chris Melhuish, Raj Persad, Anthony G. Pipe, Sanja Dogramadzi:
μAngelo: A novel minimally invasive surgical system based on an anthropomorphic design. 369-374 - Hoang H. Le, Rui C. V. Loureiro, Florian Dussopt, Nicholas Phillips, Aleksandar Zivanovic, Martin J. Loomes:
Soundscape and haptic cues in an interactive painting: A study with autistic children. 375-380 - Mohd Nor Azmi Ab Patar, Takashi Komeda, Takashi Mori, Takaya Seki, Yukio Saito, Jamaluddin Mahmud, Cheng Yee Low:
Hand rehabilitation device system (HRDS) for therapeutic applications. 381-386 - Maria M. Martins, Anselmo Frizera, Ramón Ceres, Cristina P. Santos:
Legs tracking for walker-rehabilitation purposes. 387-392 - Ronald N. Goodman, Jeremy C. Rietschel, Anindo Roy, Shailesh Balasubramanian, Larry W. Forrester, Christopher T. Bever, Hermano Igo Krebs:
Ankle robotics training with concurrent physiological monitoring in multiple sclerosis: A case report. 393-397 - Francisco J. Badesa, Ricardo Morales, Nicolás García Aracil, Arantxa Alfaro, Ángela Bernabeu, Eduardo Fernández, José María Sabater:
Robot-assisted rehabilitation treatment of a 65-year old woman with alien hand syndrome. 398-402 - Maryam Alimardani, Shuichi Nishio, Hiroshi Ishiguro:
The effect of feedback presentation on motor imagery performance during BCI-teleoperation of a humanlike robot. 403-408 - Jin Hu, Zeng-Guang Hou, Yixiong Chen, Nikola K. Kasabov, Nathan Matthew Scott:
EEG-based classification of upper-limb ADL using SNN for active robotic rehabilitation. 409-414 - Andrew Theriault, Mark L. Nagurka, Michelle J. Johnson:
Therapeutic potential of haptic TheraDrive: An affordable robot/computer system for motivating stroke rehabilitation. 415-420 - Luis Daniel Lledó, Santiago Ezquerro, Francisco J. Badesa, R. Morales, Nicolás García Aracil, José María Sabater:
Implementation of 3D visualization aplications based on physical-haptics principles to perform rehabilitation tasks. 421-425 - Jack F. Schorsch, Arvid Q. L. Keemink, Arno H. A. Stienen, Frans C. T. van der Helm, David A. Abbink:
The influence of human-robot interaction order during fast lifting tasks for different levels of weight compensation. 426-431 - Zhen-Gang Xiao, Ahmed M. Elnady, Jacob Webb, Carlo Menon:
Towards a brain computer interface driven exoskeleton for upper extremity rehabilitation. 432-437 - Rachel Wilk, Michelle J. Johnson:
Usability feedback of patients and therapists on a conceptual mobile service robot for inpatient and home-based stroke rehabilitation. 438-443 - Bojan Andonovski, Jaime Valls Miró, James Poon, Ross Black:
An automated mechanism to characterize wheelchair user performance. 444-449 - Fausto O. Medola, Benedito M. Purquerio, Valéria Meirelles Carril Elui, Carlos Alberto Fortulan:
Conceptual project of a servo-controlled power-assisted wheelchair. 450-454 - Marcelo Archanjo José, Alexandre Antonio Gonçalves Martinazzo, Leandro Coletto Biazon, Irene Karaguilla Ficheman, Roseli D. Lopes, Marcelo Knörich Zuffo:
Power wheelchair open platform. 455-460 - Ragou Ady, Wael Bachta, Philippe Bidaud:
Development and control of a one-wheel telescopic active cane. 461-466 - Christina Ramer, Christian Ziegler, Sebastian Reitelshöfer, Jörg Franke:
Sensor-guided jogging for visually impaired. 467-472 - Luis Alfredo Calle Arevalo, Patricio Javier Guaraca Medina, Patricio Fernando Urgiles Ortiz:
Analysis of torque and power supported by the Hip during a change of sitting position to standing and walking cycle. 473-478 - Branko Brackx, Joost Geeroms, Jonas Vantilt, Victor Grosu, Karen Junius, Heidi Cuypers, Bram Vanderborght, Dirk Lefeber:
Design of a modular add-on compliant actuator to convert an orthosis into an assistive exoskeleton. 485-490 - Tyler Desplenter, A. Kyrylova, T. K. Stanbury, Abelardo Escoto, Shrikant Chinchalkar, Ana Luisa Trejos:
A wearable mechatronic brace for arm rehabilitation. 491-496 - Matteo Malosio, Marco Caimmi, Marco Ometto, Lorenzo Molinari Tosatti:
Ergonomics and kinematic compatibility of PKankle, a fully-parallel spherical robot for ankle-foot rehabilitation. 497-503 - Stefano Rossi, Fabrizio Patane, Fausto Del Sette, Paolo Cappa:
WAKE-up: A wearable ankle knee exoskeleton. 504-507 - Javier Garrido, Wen Yu, Alberto Soria:
Modular design and modeling of an upper limb exoskeleton. 508-513 - Antoon Philippi, Serdar Ates, Arno H. A. Stienen:
Relocating actuators towards a base frame does not improve weight and inertia characteristics in our upper-extremity exoskeleton. 514-519 - Erwin Aertbeliën, Joris De Schutter:
Learning a Predictive Model of Human Gait for the Control of a Lower-limb Exoskeleton. 520-525 - Verena Klamroth-Marganska, Robert Riener:
Influence of single centers in a multicenter trial on robot-assisted therapy? 526-529 - Urs Keller, Robert Riener:
Design of the pediatric arm rehabilitation robot ChARMin. 530-535 - Patrizia Marti, Michele Tittarelli, Matteo Sirizzotti, Jelle Stienstra:
Expression-rich communication through a squeezable device. 536-541 - Konstantinos P. Michmizos, Hermano Igo Krebs:
Modeling reaction time in the ankle. 542-547 - Claudio Castellini, Katharina Hertkorn, Mikel Sagardia, David Sierra González, Markus Nowak:
A virtual piano-playing environment for rehabilitation based upon ultrasound imaging. 548-554 - Henk G. Kortier, H. Martin Schepers, Peter H. Veltink:
On-body inertial and magnetic sensing for assessment of hand and finger kinematics. 555-560 - Alessandro Scano, Marco Caimmi, Matteo Malosio, Lorenzo Molinari Tosatti:
Using Kinect for upper-limb functional evaluation in home rehabilitation: A comparison with a 3D stereoscopic passive marker system. 561-566 - Caio Benatti Moretti, Ricardo C. Joaquim, Glauco A. P. Caurin, Hermano Igo Krebs, Jose Martins:
Knowledge discovery, rehabilitation robotics, and serious games: Examining training data. 567-572 - Chandimal Jayawardena, Abdolhossein Sarrafzadeh:
An alternative approach for developing socially assistive robots. 573-578 - Luis A. Rivera, Nicholas R. Smith, Guilherme N. DeSouza:
High-accuracy recognition of muscle activation patterns using a hierarchical classifier. 579-584 - Joao Luiz A. S. Ramos, Marco A. Meggiolaro:
Use of surface electromyography for human amplification using an exoskeleton driven by artificial pneumatic muscles. 585-590 - Zhen-Gang Xiao, Ahmed M. Elnady, Carlo Menon:
Control an exoskeleton for forearm rotation using FMG. 591-596 - Margaret P. Chapman, Michele F. Rotella, Allison M. Okamura:
Position and velocity cursor mappings contribute to distinct muscle forces in simulated isometric and movement reaching. 597-603 - Claudio Castellini, Albert Arquer, Jordi Artigas:
sEMG-based estimation of human stiffness: Towards impedance-controlled rehabilitation. 604-609 - Renato Naville Watanabe, André Fabio Kohn:
System identification of a motor unit pool using a realistic neuromusculoskeletal model. 610-615 - Virginia Helena Quadrado, Carlos Noriega, Arturo Forner-Cordero:
Experimental assessment of a coincident timing motor task of the arm under a passive mechanical perturbation. 616-620 - Kanna Uno, Takanori Oku, Pipatthana Phatiwuttipat, Keitaro Koba, Yuto Yamashita, Kenta Murakami, Mitsunori Uemura, Hiroaki Hirai, Fumio Miyazaki:
A novel muscle synergy extraction method to explain the equilibrium-point trajectory and endpoint stiffness during human upper-limb movements on a horizontal plane. 621-626 - Tetsuro Funato, Shinya Aoi, Nozomi Tomita, Kazuo Tsuchiya:
Dynamical analysis of human standing model with cyclic motion. 627-631 - Andrew Skiadopoulos, Kostas Gianikellis:
Random error propagation analysis in center of pressure signal. 632-637 - Boubaker Daachi, Tarek Madani, M. E. Daâchi, Karim Djouani:
MLPNN adaptive controller based on a reference model to drive an actuated lower limb orthosis. 638-643 - Wilian M. dos Santos, Adriano A. G. Siqueira:
Robust torque control based on H∞ criterion of an active knee orthosis. 644-649 - Abhishek Mishra, Rohan Ghosh, Martina Coscia, Sunil L. Kukreja, Carmelo Chisari, Silvestro Micera, Haoyong Yu, Nitish V. Thakor:
A neurally inspired robotic control algorithm for gait rehabilitation in hemiplegic stroke patients. 650-655 - Anindo Roy, Hermano Igo Krebs, Kamran Iqbal, Nathan R. Macko, Richard F. Macko, Larry W. Forrester:
Facilitating push-off propulsion: A biomechanical model of ankle robotics assistance for plantarflexion gait training in stroke. 656-663 - Juan C. Perez-Ibarra, Wilian M. dos Santos, Hermano Igo Krebs, Adriano A. G. Siqueira:
Adaptive impedance control for robot-aided rehabilitation of ankle movements. 664-669 - Milad Geravand, Peter Zeno Korondi, Angelika Peer:
Human sit-to-stand transfer modeling for optimal control of assistive robots. 670-676 - Tyler Susko, Hermano Igo Krebs:
MIT-Skywalker: A novel environment for neural gait rehabilitation. 677-682 - Yong Ren, Dingguo Zhang:
FEXO Knee: A rehabilitation device for knee joint combining functional electrical stimulation with a compliant exoskeleton. 683-688 - Joon-Hyuk Park, Damiano Zanotto, Vineet Vashista, Xin Jin, Paul Stegall, Sunil K. Agrawal:
Second Spine: A device to relieve stresses on the upper body during loaded walking. 689-694 - Hipólito Aguilar-Sierra, Ricardo López, Wen Yu, Sergio Salazar, Rogelio Lozano:
A lower limb exoskeleton with hybrid actuation. 695-700 - Jing Ye, Yasutaka Nakashima, Inko Elgezua, Bo Zhang, Yo Kobayashi, Masakatsu G. Fujie:
Development of a novel gait rehabilitation system by integrating functional electrical stimulation and a split belt treadmill for hemiparetic patients after stroke. 701-706 - Hirohito Tanaka, Minoru Hashimoto:
Development of a non-exoskeletal structure for a robotic suit. 707-712 - Carlos Jesús Pérez-del-Pulgar, Victor F. Muñoz:
Control scheme with tissue interaction detection for a single port access surgery robotic platform. 713-718 - Franziska Sophie Goerlach, Tobias Lüddemann, Jonas H. Pfeiffer, Tim C. Lueth:
Detection of surface points with an 850nm laser and an NDI stereo camera. 719-725 - Elena F. Gambaro, Loredana Zollo, Eugenio Guglielmelli:
Development and experimental validation of a master interface with vibrotactile feedback for robotic telesurgery. 726-731