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Discriminating tissue stiffness with a haptic catheter: Feeling the inside of the beating heart

Samuel B. Kesner, Robert D. Howe. Discriminating tissue stiffness with a haptic catheter: Feeling the inside of the beating heart. In Lynette A. Jones, Matthias Harders, Yasuyoshi Yokokohji, editors, IEEE World Haptics Conference, WHC 2011, 21-24 June 2011, Istanbul, Turkey. pages 13-18, IEEE Computer Society, 2011. [doi]

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Samuel B. Kesner

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Robert D. Howe

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