Haptic Control Design for Robotic-Assisted Minimally Invasive Surgery. - Rui Pedro Duarte Cortesão; Walid Zarrad; Philippe Poignet; Olivier Company; Etienne Dombre (IROS, 2006)

Stability and transparency analysis of a haptic feedback controller for medical applications. - Walid Zarrad; Philippe Poignet; Rui Cortesão; Olivier Company (CDC, 2007)

Towards teleoperated needle insertion with haptic feedback controller. - Walid Zarrad; Philippe Poignet; Rui Pedro Duarte Cortesão; Olivier Company (IROS, 2007)