Ichiro Kato, Koichi Koganezawa, Hiroshi Fujimoto, Masaya Hirata. The Automatic Breast-cancer Palpation Robot : Wapro-4r. In IEEE International Workshop on Intelligent Robots and Systems '88, Proceedings. IROS 1988, Tokyo, Japan, October 31 - November 2, 1988. pages 73-78, IEEE, 1988. [doi]
Abstract is missing.