Mechanical concept of the neurosurgical robot 'Minerva'. - Dominique Glauser; Pierre Flury; C. W. Burckhardt (Robotica, 1993)

The PantoScope: a spherical remote-center-of-motion parallel manipulator for force reflection. - Roger A. Baumann; Willy Maeder; Dominique Glauser; Reymond Clavel (ICRA, 1997)