# Methods to Segment Hard Inclusions in Soft Tissue During Autonomous Robotic Palpation

> Research article (IEEE Transactions on Robotics, 2015) · cited 76× · AI/ML

**Wikidata**: [openalex:W1983309556](https://www.wikidata.org/wiki/openalex:W1983309556)  
**Source**: https://4ort.xyz/entity/methods-to-segment-hard-inclusions-in-soft-tissue-during-autonomous-robotic-palpation