1. Lamina emergent mechanisms and their basic elements;Jacobsen;Journal of Mechanisms and Robotics,2010
2. Compliant Mechanisms;Howell,2001
3. Kinematics of Spherical Mechanisms;Chiang,1988
4. P. Larochelle, J. Dooley, A. P. Murray, J. M. McCarthy, SPHINX - Software for synthesizing spherical mechanisms, in: NSF Design and Manufacturing Systems Conference, Charlotte, North Carolina. Proceedings of the 1993 NSF Design and Manufacturing Systems Conference, 1993.
5. A robust classification scheme for spherical 4R linkages;Cervantes-Sánchez;Mechanism and Machine Theory,2002