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Serial comanipulation in beating heart surgery using a LWPR..:

, In: Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II,
Florez, Juan Manuel ; Bellot, Delphine ; Szewczyk, Jérôme. - p. 389-400 , 2011
Link: https://dl.acm.org/doi/10.1007/978-3-642-25489-5_38