Development of tension based haptic interface and possibility of its application to virtual reality. - Seahak Kim; Masahiro Ishii 001; Yasuharu Koike; Makoto Sato (VRST, 2000)

Tension Based 7-DOF Force Feedback Device: SPIDAR-G. - Seahak Kim; Shoichi Hasegawa; Yasuharu Koike; Makoto Sato (VR, 2002)