@article{balter2017adaptive,
  author={M. Balter and A. Chen and T. Maguire and M. Yarmush}, 
  journal={IEEE Transactions on Industrial Electronics}, 
  title={Adaptive Kinematic Control of a Robotic Venipuncture Device Based on Stereo Vision, Ultrasound, and Force Guidance}, 
  year={2017}, 
  volume={64}, 
  number={2}, 
  pages={1626--1635}, 
  doi={10.1109/TIE.2016.2557306}, 
  ISSN={0278-0046}
}