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Segmentation and Interpretation of Temporal Contact Signals, and . Third International Symposium on Experimental Robotics, (October 1993)Exploiting the Redundancy of a Hand-Arm Robotic System, and . A. I. Memo, 1261. M. I. T Artificial Intelligence Laboratory, (October 1990)Interpretation of Contact Geometries From Force Measurements. Proceedings of the 1st International Symposium on Robotics Research, page 565--577. MIT Press, (August 1984)Robot Hands and the Mechanics of Manipulation, and . The MIT series in Artificial Intelligence The MIT Press, Cambridge, Massachusetts, (1985)Articulated Hands: Force Control and Kinematic Issues, and . The International Journal of Robotics Research, 1 (1): 4--17 (1982)Active Stiffness Control of a Manipulator in Cartesian Coordinates. Proceedings of the 19th IEEE Conference on Decision and Control, (1980)Reprinted in: A tutorial on Robotics 2nd Edition 1986 IEEE.The Heart of Microsurgery. Mechanical Engineering, 120 (12): 46--51 (1998)Determination of manipulator Contact Information from Joint Torque Measurements, and . Lecture Notes in Control and Information Sciences, Springer-Verlag, (1989)A virtual surgical environment for rehearsal of tympanomastoidectomy, , , , and . Stud Health Technol Inform, (2011)