@article{coles2010modification,
  title = {Modification of commercial force feedback hardware for needle insertion simulation.},
  author = {Coles, Timothy Richard and John, Nigel W and Sofia, Giuseppe and Gould, Derek A and Caldwell, Darwin G},
  journal = {Studies in health technology and informatics},
  volume = {163},
  pages = {135--137},
  year = {2010}
}