Jean-Jacques Banihachemi Eric Boidard Jean-Luc Bosson Luc Bressollette Ivan Bricault Philippe Cinquin Gilbert Ferretti Maud Marchal Thomas Martinelli Alexandre Moreau-Gaudry Franck Pellissier Christian Roux Dominique Saragaglia Pierre Thorel Jocelyne Troccaz Adriana Vilchis Gonzales TER: A Robot for Remote Ultrasonic Examination: Experimental Evaluations http://arxiv.org/abs/0801.4355 2008 CoRR abs/0801.4355 db/journals/corr/corr0801.html#abs-0801-4355 informal publication