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A Fracture Mechanics Approach to Haptic Synthesis of Tissue Cutting with Scissors., and . WHC, page 356-362. IEEE Computer Society, (2005)Friction Compensation for a Force-Feedback Teleoperator with Compliant Transmission., and . CDC, page 4508-4513. IEEE, (2006)Quasistatic modeling of concentric tube robots with external loads., , , and . IROS, page 2325-2332. IEEE, (2010)Effects of haptic and graphical force feedback on teleoperated palpation., , , , , and . ICRA, page 677-682. IEEE, (2009)Toward a hybrid snake robot for single-port surgery., and . EMBC, page 5372-5375. IEEE, (2011)Passivity-based high-fidelity haptic rendering of contact., and . ICRA, page 3722-3728. IEEE, (2003)Friction Compensation for Enhancing Transparency of a Teleoperator With Compliant Transmission., and . IEEE Trans. Robotics, 23 (6): 1240-1246 (2007)Haptics for Robot-Assisted Minimally Invasive Surgery., , , and . ISRR, volume 66 of Springer Tracts in Advanced Robotics, page 361-372. Springer, (2007)Stiffness control of a continuum manipulator in contact with a soft environment., and . IROS, page 863-870. IEEE, (2010)Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments., , , , , , and . HAPTICS, page 465-471. IEEE Computer Society, (2008)