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Feel-Good Robotics: Requirements on Touch for Embodiment in Assistive RoboticsBeckerle, Philipp; Kõiva, Risto; Kirchner, Elsa Andrea; Bekrater-Bodmann, Robin; Dosen, Strahinja; Christ, Oliver; Abbink, David A.; Castellini, Claudio; Lenggenhager, Bigna · Frontiers in Neurorobotics · 2018