Design issues in 2-port network models of bilateral remote manipulation. - G. Jagannath Raju; George C. Verghese; Thomas B. Sheridan (ICRA, 1989)

Bilateral Control for Parallel-Link Manipulators. - Tatsuo Arai; Robert S. Stoughton; G. Jagannath Raju (Robotics, Mechatronics and Manufacturing Systems, 1993)