학위논문(석사) - 한국과학기술원 : 기계공학전공, 2013.2, [ vii, 70 p. ]
Needle Intervention; Training Simulation; Haptic Interface; Force Feedback; 바늘 삽입형 중재시술; 훈련용 시뮬레이션; 햅틱인터페이스; 힘반력; 보상; Compensation
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