MARGE Project: Design, Modeling, and Control of Assistive Devices for Minimally Invasive Surgery. - Etienne Dombre; Micaël Michelin; François Pierrot; Philippe Poignet; Philippe Bidaud; Guillaume Morel; Tobias Ortmaier; Damien Sallé; Nabil Zemiti; Philippe Gravez; Mourad Karouia; Nicolas Bonnet (MICCAI (2), 2004)

Non-overconstrained 3-dof spherical parallel manipulators of type: 3-RCC, 3-CCR, 3-CRC. - Mourad Karouia; Jacques M. Hervé (Robotica, 2006)