# Haptic Intracorporeal Palpation Using a Cable-Driven Parallel Robot: A User Study

> Research article (IEEE Transactions on Biomedical Engineering, 2020) · cited 37× · AI/ML

**Wikidata**: [openalex:W3029219473](https://www.wikidata.org/wiki/openalex:W3029219473)  
**Source**: https://4ort.xyz/entity/haptic-intracorporeal-palpation-using-a-cable-driven-parallel-robot-a-user-study