Workspace augmentation of spatial 3-DOF cable parallel robots using differential actuation. - Hamed Khakpour; Lionel Birglen (IROS, 2014)

Synthesis of Differentially Driven Planar Cable Parallel Manipulators. - Hamed Khakpour; Lionel Birglen; Souheil-Antoine Tahan (IEEE Trans. Robotics, 2014)