The PantoScope: a spherical remote-center-of-motion parallel manipulator for force reflection. - Roger A. Baumann; Willy Maeder; Dominique Glauser; Reymond Clavel (ICRA, 1997)

Haptic Interface for Virtual Reality Based Minimally Invasive Surgery Simulation. - Roger A. Baumann; Reymond Clavel (ICRA, 1998)