https://spiral.imperial.ac.uk/entities/publication/b04adbce-ee81-4781-9f3e-0db01df70513
Thimble end effector for palpation skills training
Interaction with force feedback haptic devices is often non-intuitive, obtrusive and unrealistic, particularly for the simulation of palpation skills training...
thimble endeffectorpalpationskillstraining