**Sensorized Tools for Haptic Force Feedback in Computer Assisted Surgery**

Arne Sieber1,2,3, Keith Houston1,3, Christian Woegerer3, Peter Enoksson4, Arianna Menciassi1 and Paolo Dario1 *1The Bio Robotics Institute, Scuola Superiore Sant'Anna, Pisa, 2Imego AB, Gothenburg, 3Profactor GmbH, Steyr, 4MC2, Chalmers University of Technology, Gothenburg, 1Italy 2,4Sweden 3Austria* 
