Submitted on: 12 October 2005.
Revised on: 02 December 2005.
Accepted on: 12 January 2006.
___________________IEEE Transactions on Medical Robotics and Bionics
Submitted on: 15 January 2008.
Revised on: 29 April 2008.
Accepted on: 13 June 2008.
___________________IEEE Transactions on Medical Robotics and Bionics
Submitted on: 28 October 2008.
Revised on: 28 November 2008.
Accepted on: 30 December 2008.
___________________IEEE Transactions on Medical Robotics and Bionics
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Submitted on: 20 March 1999.
Revised on: 17 May 1999.
Accepted on: 21 June 1999.
___________________IEEE Transactions on Medical Robotics and Bionics
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