Experimental evaluation of a 2DOF haptic device with four-state rotary programmable brakes. - Vinoth Manoharan; Yaroslav Tenzer; Ferdinando Rodriguez y Baena (World Haptics, 2011)

Design and validation of an epidural needle insertion simulator with haptic feedback for training resident anaesthesiologists. - Vinoth Manoharan; Dennis van Gerwen; John van den Dobbelsteen; Jenny Dankelman (HAPTICS, 2012)