Design and modeling of a novel 6 degree of freedom haptic device. - Zhouming Tang; Shahram Payandeh (WHC, 2009)

Modeling and Experimental Studies of a Novel 6-DOF Haptic Device. - Zhouming Tang; Shahram Payandeh (EuroHaptics (1), 2010)

Inverse Kinematics Solution of a Class of Hybrid Manipulators. - Shahram Payandeh; Zhouming Tang (ICIRA (1), 2011)

Experimental Studies of a Novel 6-DOF Haptic Device. - Zhouming Tang; Shahram Payandeh (SMC, 2013)