Lijuan Wang, Zhongkui Wang, Shinichi Hirai. Modeling and simulation of friction forces during needle insertion using Local Constraint Method. In 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2012, Vilamoura, Algarve, Portugal, October 7-12, 2012. pages 4926-4932, IEEE, 2012. [doi]
Abstract is missing.