Teleoperation and Contact Detection of a Waterjet-Actuated Soft Continuum Manipulator for Low-Cost Gastroscopy. - Federico Campisano; Andria A. Remirez; Claire A. Landewee; Simone Caló; Keith L. Obstein; Robert J. Webster III; Pietro Valdastri (IEEE Robotics Autom. Lett., 2020)