1. Brand L (1947) Vector and tensor analysis. Wiley, New York, NY
2. Hunt KH (1978) Kinematic geometry of mechanisms. Wiley, New York, NY
3. Dooner DB (2003) Introducing radius of torsure and cylindroid of torsure. J Robot Syst 20(8):429–436
4. Kreyszig E (1991) Differential geometry. Dover Publishers, New York, NY
5. Ghosal A (2006) Robotics: fundamental concepts and analysis. Oxford University Press, New Delhi