1. "The PHANToM haptic interface: a device for probing virtual objects";Massi;ASME Winter Annual Meeting,1994
2. W.-J. Chen, "A novel 4-dof parallel manipulator and its kinematic modeling", in: IEEE Int. Conf. on Robotics and Automation, Seoul, 23–25, pp. 3350–3355, May 2001.
3. "Parallel manipulator";Inoue,1985
4. "Analyzing kinematics and solving active/constrained forces of a 3SPU + UPR parallel manipulator";Yi;Mechanism and Machine Theory,2007
5. Q. Li, Z. Huang, "Type synthesis of 4-dof parallel manipulators", in: IEEE Int. Conf. on Robotics and Automation, Taipei, 14–19, pp. 755–760, September 2003.