Modelling and Control of an ERF-Based Needle Insertion Training Platform. - Adrian Graña; L. Alonso Sanchez; Nabil Zemiti; Philippe Poignet (IPCAI, 2014)

Design and evaluation of a 1DoF ERF-based needle insertion haptic platform. - Adrian Graña Sanchez; L. Alonso Sanchez; Nabil Zemiti; Philippe Poignet (IROS, 2014)