# Methods to Recognize Depth of Hard Inclusions in Soft Tissue Using Ordinal Classification for Robotic Palpation

> Research article (IEEE Transactions on Instrumentation and Measurement, 2022) · cited 27× · AI/ML

**Wikidata**: [openalex:W4291652747](https://www.wikidata.org/wiki/openalex:W4291652747)  
**Source**: https://4ort.xyz/entity/methods-to-recognize-depth-of-hard-inclusions-in-soft-tissue-using-ordinal-classification-for-robotic-palpation