1. Cable-suspended haptic interface;Williams;International Journal of Virtual Reality,1998
2. Computing with feeling;Atkinson;Computers and Graphics,1977
3. A 3D spatial interface device using tensed strings;Ishii;Presence – Teleoperators and Virtual Environments,1994
4. Construction and demonstration of a 9-string 6-DOF force reflecting joystick for telerobotics;Liendmann,1989
5. Set of manipulating forces in wire driven systems;Shen,1994