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The FeTouch Project: an application of haptic technologies ..:

Prattichizzo, Domenico ; la Torre, Berardino ; Barbagli, Federico...
International Journal of Medical Robotics and Computer Assisted Surgery.  1 (2004)  1 - p. 83 , 2004
Link: https://doi.org/10.1581/mrcas.2004.010110