Submitted on: 15 November 1999.
Revised on: 15 December 1999.
Accepted on: 23 January 2000.
___________________IEEE Transactions on Medical Robotics and Bionics
Submitted on: 03 June 2013.
Revised on: 01 July 2013.
Accepted on: 15 August 2013.
___________________IEEE Transactions on Medical Robotics and Bionics
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Submitted on: 26 April 2017.
Revised on: 18 May 2017.
Accepted on: 30 May 2017.
___________________IEEE Transactions on Medical Robotics and Bionics
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Submitted on: 06 September 2019.
Revised on: 14 October 2019.
Accepted on: 26 November 2019.
___________________IEEE Transactions on Medical Robotics and Bionics