@article{oai:repository.dl.itc.u-tokyo.ac.jp:00000093, author = {Tachi, Susumu and Tanie, Kazuo and Komoriya, Kiyoshi and Abe, Minoru}, issue = {7}, journal = {IEEE transactions on biomedical engineering}, month = {Jul}, note = {application/pdf}, pages = {461--469}, title = {Electrocutaneous Communication in a Guide Dog Robot (MELDOG)}, volume = {32}, year = {1985} }