BibTex format
@article{Petersen:2016:10.1109/TRO.2015.2507163,
author = {Petersen, J and Bowyer, S and Rodriguez, y Baena F},
doi = {10.1109/TRO.2015.2507163},
journal = {IEEE Transactions on Robotics},
pages = {201--213},
title = {Mass and friction optimization for natural motion in hands-on robotic surgery},
url = {http://dx.doi.org/10.1109/TRO.2015.2507163},
volume = {32},
year = {2016}
}