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He, Liang, Herzig, Nicolas, De Lusignan, Simon, Scimeca, Luca, Maiolino, Perla, Iida, Fumiya and Nanayakkara, Thrishantha (2020) An abdominal phantom with tunable stiffness nodules and force sensing capability for palpation training. IEEE Transactions on Robotics. pp. 1-14. ISSN 1552-3098