Toshinobu Takei, Tetsuya Ni'izeki, Mitsuhito Ando, Hiromi Mochiyama, Etsujiro Imanishi, Hideo Fujimoto. Spiral coil beneath fingertip enhances tactile sensation while tracing surface with small undulations. Advanced Robotics, 35(5):295-307, 2021. [doi]
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