Experimental evaluation of a projection-based force reflection algorithm for haptic interfaces. - Ilia G. Polushin; Mir Zayed Hasan; Amir Takhmar (HAPTICS, 2012)

${{ cal L}}_2$ -Stability of Haptic Systems with Projection-Based Force Reflection. - Ilia G. Polushin; Mir Zayed Hasan (IEEE Trans. Haptics, 2014)