Vibro-Acoustic Sensing of Instrument Interactions as a Potential Source of Texture-Related Information in Robotic Palpation. - Thomas Sühn; Nazila Esmaeili; Sandeep Y. Mattepu; Moritz Spiller; Axel Boese; Robin Urrutia; Víctor Poblete; Christian Hansen 001; Christoph H. Lohmann; Alfredo Illanes; Michael Friebe (Sensors, 2023)