Singularity-free parameterization and performance analysis of actuation redundancy. - Timo Ropponen; Yoshihiko Nakamura (ICRA, 1990)

Experimentation on a direct-drive robot with actuation redundancy. - Timo Ropponen; Petri Rauhamaa (IROS, 1994)

Accuracy Analysis of a Modified Stewart Platform Manipulator. - Timo Ropponen; Tatsuo Arai (ICRA, 1995)