John-John Cabibihan Shuzhi Sam Ge Towards Humanlike Social Touch for Prosthetics and Sociable Robotics: Three-Dimensional Finite Element Simulations of Synthetic Finger Phalanges. 80-86 2009 FIRA RoboWorld Congress http://springerlink.metapress.com/content/e20q72720471jgl1/ conf/fira/2009 db/conf/fira/fira2009.html#CabibihanG09