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Motion Primitives for Low Contact Force Magnetically-Driven..:

Alcaide, Joan Ortega ; Damone, Angelo ; Dario, Paolo.
IEEE Transactions on Medical Robotics and Bionics.  5 (2023)  4 - p. 1000-1015 , 2023
Link: https://doi.org/10.1109/tmrb.2023.3315484