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Dermarob: A safe robot for reconstructive surgery., , , and . IEEE Trans. Robotics Autom., 19 (5): 876-884 (2003)A hybrid position/force control approach for identification of deformation models of skin and underlying tissues., , , , and . IEEE Trans. Biomed. Eng., 52 (2): 160-170 (2005)Robotized Skin Harvesting., , , and . ISER, volume 5 of Springer Tracts in Advanced Robotics, page 404-413. Springer, (2002)SCALPP: A Safe Methodology to Robotize Skin Harvesting., , , , and . MICCAI, volume 2208 of Lecture Notes in Computer Science, page 309-316. Springer, (2001)Medically safe and sound human-friendly robot dependability., , , and . IEEE Robotics Autom. Mag., 11 (2): 46-55 (2004)Design and control issues for intrinsically safe medical robots., , , , and . Ind. Robot, 30 (1): 83-88 (2003)