# An Abdominal Phantom With Tunable Stiffness Nodules and Force Sensing Capability for Palpation Training

> Research article (IEEE Transactions on Robotics, 2020) · cited 27× · AI/ML

**Wikidata**: [openalex:W3118045280](https://www.wikidata.org/wiki/openalex:W3118045280)  
**Source**: https://4ort.xyz/entity/an-abdominal-phantom-with-tunable-stiffness-nodules-and-force-sensing-capability-for-palpation-training