Development of a Surgical Simulator for Training Retraction of Tissue with an Encountered-Type Haptic Interface Using MR Fluid. - Teppei Tsujita; Kazuya Sase; XiaoShuai Chen; Masashige Tomita; Atsushi Konno; Masano Nakayama; Atsuhiro Nakagawa; Koyu Abe; Masaru Uchiyama (ROBIO, 2018)