Palpation instrument for augmented minimally invasive surgery. - Maria V. Ottermo; Øyvind Stavdahl; Tor Arne Johansen (IROS, 2004)

Electromechanical Design of a Miniature Tactile Shape Display for Minimally Invasive Surgery. - Maria V. Ottermo; Øyvind Stavdahl; Tor Arne Johansen (WHC, 2005)