Tatsushi Tokuyasu, Shin ichiro Oota, Toru Tokuyama, Ken ichi Asami, Tadashi Kitamura, Gen ichi Sakaguchi, Tadaaki Koyama, Masashi Komeda. Mechanical modeling of a beating heart for a cardiac palpation training system. Advanced Robotics, 17(6):463-479, 2003. [doi]
Abstract is missing.