Palpation force modulation strategies to identify hard regions in soft tissue organs

• Jelizaveta Konstantinova ,

  * E-mail: j.konstantinova@qmul.ac.uk

  Affiliation School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom

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• Giuseppe Cotugno,

  Affiliation Department of Informatics, King’s College London, London, United Kingdom

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• Prokar Dasgupta,

  Affiliation AMRC Centre for Transplantation, DTIMB and NIHR BRC, King’s College London, Guy’s Hospital, London, United Kingdom

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• Kaspar Althoefer,

  Affiliation School of Engineering and Materials Science, Queen Mary University of London, London, United Kingdom

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• Thrishantha Nanayakkara

  Affiliation Dyson School of Engineering, Imperial College London, South Kensington Campus, London, United Kingdom

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