An Experimental Safety Study for Stab/Puncture and Incised Wounds By Sami Haddadin, Alin Albu-Sch€affer, €rgen Roßmann, Fahed Haddadin, Ju and Gerd Hirzinger * ©CORBIS CORP. 20 * IEEE ROBOTICS & AUTOMATION MAGAZINE * DECEMBER 2011 1070-9932/11/$26.00ª2011 IEEE