Yue Joseph Wang C. Nguyen Rujirutana Srikanchana Z. Geng Matthew T. Freedman Tactile Mapping of Palpable Abnormalities for Breast Cancer Diagnosis. 1305-1309 1999 conf/icra/1999 ICRA db/conf/icra/icra1999-2.html#WangNSGF99 http://dx.doi.org/10.1109/ROBOT.1999.772541