Design of a Cost-Effective Ultrasound Force Sensor and Force Control System for Robotic Extra-Body Ultrasound Imaging by Yixuan Zheng, Hongyuan Ning, Eason Rangarajan, Aban Merali, Adam Geale, Lukas Lindenroth, Zhouyang Xu, Weizhao Wang, Philipp Kruse, Steven Morris, Liang Ye, Xinyi Fu, Kawal Rhode, Richard James Housden

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