Dynamic simulation of virtual mechanisms with haptic feedback using industrial robotics equipment. - C. L. Clover; Greg R. Luecke; James J. Troy; William A. McNeely (ICRA, 1997)

A control-system architecture for robots used to simulate dynamic force and moment interaction between humans and virtual objects. - C. L. Clover (IEEE Trans. Syst. Man Cybern. Part C, 1999)