Tavakoli-2006

@ARTICLE{Tavakoli-2006,

  author = {M. Tavakoli and R. V. Patel and M. Moallem},
  title = {Bilateral control of a teleoperator for soft tissue palpation: design
    and experiments},
  journal = {IEEE International Conference on Robotics and Automation},
  year = {2006},
  pages = {3280-3285}

}