Submitted on: 08 September 2011.
Revised on: 06 December 2011.
Accepted on: 24 December 2011.
___________________IEEE Transactions on Medical Robotics and Bionics
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Submitted on: 19 August 1999.
Revised on: 18 November 1999.
Accepted on: 13 December 1999.
___________________IEEE Transactions on Medical Robotics and Bionics
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Submitted on: 20 December 2011.
Revised on: 18 February 2012.
Accepted on: 17 March 2012.
___________________IEEE Transactions on Medical Robotics and Bionics
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