@inproceedings{CTT100700221,
  author = {Ryoken Miyazaki and Tomohisa  Terata and Takahiro Kanno and Toshiaki  Tsuji and Gen Endo and Kenji Kawashima},
  title = {Compact Haptic Device Using a Pneumatic Bellows for Teleoperation of a Surgical Robot},
  booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year = 2015,
}