@article{Pacchierotti16-TBME-Palpation, title = {Cutaneous Feedback of Fingertip Deformation and Vibration for Palpation in Robotic Surgery}, author = {Pacchierotti, Claudio and Prattichizzo, Domenico and Kuchenbecker, Katherine J.}, journal = {IEEE Transactions on Biomedical Engineering}, volume = {63}, number = {2}, pages = {278--287}, month = feb, year = {2016}, doi = {}, month_numeric = {2} }