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Enhanced Simulation Techniques for Short Wavelength Pulses Propagation Through Acoustic-Solid Media., and . CCCT (2), page 110-115. The International Institute of Informatics and Systemics (IIIS), (2004)HIRO: Multi-fingered Haptic Interface Robot and Its Medical Application Systems., , , , and . Multi-finger Haptic Interaction, Springer, (2013)Segmentation of a Vibro-Shock Cantilever-Type Piezoelectric Energy Harvester Operating in Higher Transverse Vibration Modes., , , , and . Sensors, 16 (1): 11 (2016)Medical palpation of deformable tissue using physics-based model for haptic interface robot (HIRO)., , , and . IROS, page 3907-3911. IEEE, (2004)Medical Training Simulation for Palpation of Subsurface Tumor Using HIRO., , , and . WHC, page 623-624. IEEE Computer Society, (2005)Development of five-fingered haptic interface: HIRO-II., , , , , , , , , and . ICAT, page 209-214. ACM, (2005)Future Haptic Science Encyclopedia: Realistic Stable Haptic Interaction with Highly Deformable Objects Using HIRO-II., , , , and . J. Robotics Mechatronics, 18 (4): 409-417 (2006)Future Haptic Science Encyclopedia: An Experimental Implementation of Networked Multi-Threaded Haptic Virtual Environment., , , , and . HAPTICS, page 76. IEEE Computer Society, (2006)