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Eklund, A., Bergh, A. and Lindahl, O.A. (1999) A Catheter Tactile Sensor for Measuring Hardness of Soft Tissue: Measurement in a Silicone Model and in an in Vitro Human Prostate Model. Medical & Biological Engineering & Computing, 37, 618-624.
http://dx.doi.org/10.1007/BF02513357

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