@ARTICLE{duan2022ultrasound,
  author={Anqing Duan and Maria Victorova and Jingyuan Zhao and Yuxiang Sun and Yongping Zheng and David Navarro-Alarcon},
  journal={IEEE Robotics and Automation Letters}, 
  title={Ultrasound-Guided Assistive Robots for Scoliosis Assessment With Optimization-Based Control and Variable Impedance}, 
  year={2022},
  volume={7},
  number={3},
  pages={8106-8113},
  doi={10.1109/LRA.2022.3186504}}