Experimental haptic device with force control. - K. Wen; Dan S. Necsulescu; Jerzy Z. Sasiadek (RoMoCo, 2005)

Haptic force control based on impedance/admittance control aided by visual feedback. - K. Wen; Dan S. Necsulescu; Jurek Z. Sasiadek (Multim. Tools Appl., 2008)