A Piezoelectric Tactile Sensor and Human-inspired Tactile Exploration Strategy for Lump Palpation in Tele-operative Robotic Minimally Invasive Surgery. - Feng Ju; Yingxuan Zhang; Yahui Yun; Hao Guo 017; Xiaoyong Wei; Chengjun Zhu; Xianwang Zhang; Dongming Bai; Bai Chen (ROBIO, 2019)