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Sasai, S., Zhen, Y.-X., Suetake, T., Tanita, Y., Omata, S. and Tagami, H. (1999) Palpation of the Skin with a Robot Finger: An Attempt to Measure Skin Stiffness with a Probe Loaded with a Newly Developed Tactile Vibration Sensor and Displacement Sensor. Skin Research Technology, 5, 237-246.
http://dx.doi.org/10.1111/j.1600-0846.1999.tb00136.x

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