Development of a Training System for Cardiac Muscle Palpation. - Tatsushi Tokuyasu; Shin'ichiro Oota; Ken'ichi Asami; Tadashi Kitamura; Gen'ichi Sakaguchi; Tadaaki Koyama; Masashi Komeda (MICCAI (1), 2002)

Mechanical modeling of a beating heart for a cardiac palpation training system. - Tatsushi Tokuyasu; Shin'ichiro Oota; Toru Tokuyama; Ken'ichi Asami; Tadashi Kitamura; Gen'ichi Sakaguchi; Tadaaki Koyama; Masashi Komeda (Adv. Robotics, 2003)