Norihiro Koizumi Takahiro Kato Shin'ichi Warisawa Hiroyuki Hashizume Mamoru Mitsuishi Manipulability Enhancement by an Impedance Parameter Tuning for a Remote Ultrasound Diagnostic System. 527-537 2002 ISER http://dx.doi.org/10.1007/3-540-36268-1_48 conf/iser/2002 db/conf/iser/iser2002.html#KoizumiKWHM02