A Sensory feedback system with pneumatic dual-structure tactile display for softness assessment during laparoscopic surgery, Proceedings of the 2021 IEEE World Haptics Conference, pp. 685 – 690, online, 7, 2021, doi:10.1109/WHC49131.2021.9517233
T. Udo, T. Ukai, Y. Tanaka, H. Miura, Y. Terada, A Sensory feedback system with pneumatic dual-structure tactile display for softness assessment during laparoscopic surgery, Proceedings of the 2021 IEEE World Haptics Conference, pp. 685 – 690, online, 7, 2021, doi:10.1109/WHC49131.2021.9517233