The primary goal of this paper is to provide force feedback to the user using vision-based techniques. The approach presented in this paper can be used to provide force feedback to the surgeon for robot-assisted procedures. As proof of concept. we have developed a linear elastic finite element model (FEM) of a rubber membrane whereby the nodal displacements of the membrane points are ... https://www.ealisboa.com/flash-grab-Hellfire-Sloe-Gin-special-find/