Modeling and simulation of friction forces during needle insertion using Local Constraint Method

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]

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