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Visuohaptic simulation of bone surgery for training and evaluation, , , , , and . IEEE Comput Graph Appl, 26 (6): 48-57 (November 2006)Quantifying risky behavior in surgical simulation, , , , and . Stud Health Technol Inform, (2005)Providing metrics and performance feedback in a surgical simulator, , , , , , and . Comput Aided Surg, 13 (2): 63-81 (March 2008)Achieving proper exposure in surgical simulation, , , , and . Stud Health Technol Inform, (2006)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)Articulated Hands: Force Control and Kinematic Issues, and . The International Journal of Robotics Research, 1 (1): 4--17 (1982)Robot Hands and the Mechanics of Manipulation, and . The MIT series in Artificial Intelligence The MIT Press, Cambridge, Massachusetts, (1985)A virtual surgical environment for rehearsal of tympanomastoidectomy, , , , and . Stud Health Technol Inform, (2011)