Vibro-Acoustic Sensing of Instrument Interactions as a Potential Source of Texture-Related Information in Robotic Palpation by Thomas Sühn, Nazila Esmaeili, Sandeep Y. Mattepu, Moritz Spiller, Axel Boese, Robin Urrutia, Victor Poblete, Christian Hansen, Christoph H. Lohmann, Alfredo Illanes, Michael Friebe

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