Konstantinova, Jelizaveta Cotugno, Giuseppe Dasgupta, Prokar Althoefer, Kaspar Nanayakkara, Thrishantha Constraints of the finger motion during single point palpation. <p>For <i>F</i><sub><i>x</i></sub> (direction is chosen for this example), the finger can move freely in both directions, but in the case of <i>F</i><sub><i>y</i></sub> (direction is chosen for this example), the motion is limited by a finger joint.</p> order reactive autoregressive model;Palpation force modulation strategies;indentation tip;palpation strategy;22.3 Hz;tissue palpation;stiffness perception;stiffness parameters;force control pattern;force modulation strategies;silicone phantoms show;tissue organs;results show;force control;Experimental results 2017-02-15
    https://plos.figshare.com/articles/figure/Constraints_of_the_finger_motion_during_single_point_palpation_/4656688
10.1371/journal.pone.0171706.g004