# Depth Estimation of Hard Inclusions in Soft Tissue by Autonomous Robotic Palpation Using Deep Recurrent Neural Network

> Research article (IEEE Transactions on Automation Science and Engineering, 2020) · cited 62× · AI/ML

**Wikidata**: [openalex:W3012355143](https://www.wikidata.org/wiki/openalex:W3012355143)  
**Source**: https://4ort.xyz/entity/depth-estimation-of-hard-inclusions-in-soft-tissue-by-autonomous-robotic-palpation-using-deep-recurrent-neural-network