Preliminary design and fabrication of smart handheld surgical tool with tactile feedback. - Choonghan Lee; Dong-Hyuk Lee; Nguyen Canh Toan; Ui Kyeom Kim; Dat Tien Nguyen; Hyungpil Moon; Jachoon Koo; Jaedo Nam; Hyouk Ryeol Choi (RO-MAN, 2013)