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Simultaneous soft sensing of tissue contact angle and force for millimeter-scale medical robots., , , and . ICRA, page 4396-4402. IEEE, (2013)Ineluctability of oscillations in systems with digital implementation of derivative feedback., , and . Autom., 47 (11): 2444-2450 (2011)Design optimization of concentric tube robots based on task and anatomical constraints., , , and . ICRA, page 398-403. IEEE, (2011)Dual-channel Haptic Synthesis of Viscoelastic Tissue Properties using Programmable Eddy Current Brakes., and . Int. J. Robotics Res., 28 (10): 1387-1399 (2009)Does Judgement of Haptic Virtual Texture Roughness Scale Monotonically with Lateral Force Modulation?, , and . EuroHaptics, volume 5024 of Lecture Notes in Computer Science, page 718-723. Springer, (2008)Concentric Tube Robot Design and Optimization Based on Task and Anatomical Constraints., , , , , and . IEEE Trans. Robotics, 31 (1): 67-84 (2015)Tissue removal inside the beating heart using a robotically delivered metal MEMS tool., , , , , , , , and . Int. J. Robotics Res., 34 (2): 236-247 (2015)Robotic neuro-emdoscope with concentric tube augmentation., , , , , , , , and . IROS, page 2941-2946. IEEE, (2012)Initial results using Eddy Current Brakes as Fast Turn-on, Programmable Physical Dampers for Haptic Rendering., , and . HAPTICS, page 11. IEEE Computer Society, (2006)Haptic Simulation of Linear Elastic Media with Fluid Pockets., , and . HAPTICS, page 266-271. IEEE Computer Society, (2004)