@inproceedings{scholars570,
            note = {cited By 2; Conference of 2009 IEEE Student Conference on Research and Development, SCOReD2009 ; Conference Date: 16 November 2009 Through 18 November 2009; Conference Code:80411},
             doi = {10.1109/SCORED.2009.5443248},
            year = {2009},
         address = {Serdang},
           title = {Needle insertion simulation forces v/s experimental forces for haptic feedback device},
         journal = {SCOReD2009 - Proceedings of 2009 IEEE Student Conference on Research and Development},
           pages = {128--131},
             url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-77952614501&doi=10.1109\%2fSCORED.2009.5443248&partnerID=40&md5=93f3d416e16085944d0c1b860cdfa9ff},
        keywords = {Chicken skin; Force data; Force feedback; Haptic feedback devices; Haptic feedbacks; Insertion force; Needle insertion; Real time; Robotic surgery; Soft tissue, Needles; Robotics; Robots; Surgery, Haptic interfaces},
        abstract = {This paper presents needle insertion forces for haptic feedback device in soft tissue. The force information from needle insertions is being measured by the sensor. The force feedback produced by the device is used in robot-assisted percutaneous therapies. The objective of the work reported here is to design a device for reality-based data. Insertion force data was collected on chicken skin and meat. The needle insertion force is modeled in three parts; force due to capsule stiffness, friction and cutting. The data from model is compared with real time force data. From the simulation and experimental results, it is found out that the error between measured and modeled force converges to zero. {\^A}{\copyright}2009 IEEE.},
          author = {Fazal, I. and Karsiti, M. N.},
            isbn = {9781424451876}
}