Design of a 5-DOF Haptic Simulator for Urological Operations. - Evangelos Papadopoulos; Kostas Vlachos; Dionyssios Mitropoulos (ICRA, 2002)

Mass/inertia and Joint Friction Minimization for a Low-force Five-dof Haptic Device. - Kostas Vlachos; Evangelos Papadopoulos; Dionyssios Mitropoulos (ICRA, 2004)