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

An MR compatible robot technology. - Roland Moser; Roger Gassert; Etienne Burdet; Laurent Sache; H. R. Woodtli; J. Erni; Willy Maeder; Hannes Bleuler (ICRA, 2003)