@article{McMahan11-TH-VerroTouch, title = {Tool Contact Acceleration Feedback for Telerobotic Surgery}, author = {McMahan, William and Gewirtz, Jamie and Standish, Dorsey and Martin, Paul and Kunkel, Jacquelyn and Lilavois, Magalie and Wedmid, Alexei and Lee, David I. and Kuchenbecker, Katherine J.}, journal = {IEEE Transactions on Haptics}, volume = {4}, number = {3}, pages = {210--220}, month = jul, year = {2011}, doi = {}, month_numeric = {7} }