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Utilization of a robotic mount to determine the force requi..:

Sorouri, Kimia ; Podolsky, Dale J. ; Wang, Annie M.Q....
Journal of the Mechanical Behavior of Biomedical Materials.  86 (2018)  - p. 433-439 , 2018
Link: https://doi.org/10.1016/j.jmbbm.2018.06.010