Force-feasible Workspace Analysis for Underconstrained, Point-mass Cable Robots. - Andrew T. Riechel; Imme Ebert-Uphoff (ICRA, 2004)

Wrench-feasible workspace generation for cable-driven robots. - Paul Bosscher; Andrew T. Riechel; Imme Ebert-Uphoff (IEEE Trans. Robotics, 2006)