# Planning of Soft-Rigid Hybrid Arms in Contact With Compliant Environment: Application to the Transrectal Biopsy of the Prostate

> Research article (IEEE Robotics and Automation Letters, 2022) · cited 18× · AI/ML

**Wikidata**: [openalex:W4213193609](https://www.wikidata.org/wiki/openalex:W4213193609)  
**Source**: https://4ort.xyz/entity/planning-of-soft-rigid-hybrid-arms-in-contact-with-compliant-environment-application-to-the-transrectal-biopsy-of-the-pr