A fault tolerant joint drive system for the Space Shuttle remote manipulator system. - Eugene Wu 001; Myron A. Diftler; James C. Hwang; John T. Chladek (ICRA, 1991)

Fault-tolerant joint development for the Space Shuttle remote manipulator system: analysis and experiment. - Eugene C. Wu; James C. Hwang; John T. Chladek (IEEE Trans. Robotics Autom., 1993)