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Extending the motion ranges of magnetic levitation for haptic interaction., and . WHC, page 517-522. IEEE Computer Society, (2009)LER: the light endoscope robot., , , and . IROS, page 2835-2840. IEEE, (2003)Torque Contribution to Haptic Rendering of Virtual Textures., , and . IEEE Trans. Haptics, 10 (4): 567-579 (2017)Virtual Roughness Perception Using Coil Array Magnetic Levitation Haptic Interface: Effects of Torque Feedback., , , and . EuroHaptics (1), volume 8618 of Lecture Notes in Computer Science, page 513-520. Springer, (2014)Single magnet levitation by repulsion using a planar coil array., and . CCA, page 108-113. IEEE, (2008)Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology, , , , , , , , , and 9 other author(s). CoRR, (2007)Medical Image Computing and Computer-Aided Medical Interventions Applied to Soft Tissues: Work in Progress in Urology., , , , , , , , , and 9 other author(s). Proceedings of the IEEE, 94 (9): 1665-1677 (2006)A Compact Modular Teleoperated Robotic System for Laparoscopic Surgery., and . I. J. Robotics Res., 28 (9): 1198-1215 (2009)Preliminary Experiments in Cooperative Human/Robert Force Control for Robot Assisted Microsurgical Manipulation., , , , , , and . ICRA, page 610-617. IEEE, (2000)Effects of Friction Parameters on Completion Times for Sustained Planar Positioning Tasks with a Haptic Interface., and . IROS, page 1115-1120. IEEE, (2006)