1. C.C. Lee and P.C. Lee, Isoconstraned mechanisms for fast pick-and-place manipulation, in Geometric Methods in Robotics and Mechanism Research, Lambert Academic Publishing, pp. 85--99 (2010)
2. T. Harada and J. Angeles, Kinematics and Singularity Analysis of CRRHHRRC Parallel SCHÖNFLIES Schönflies Motion Generator, Transactions of the Canadian Society for Mechanical Engineering, 38-2, pp. 173-183 (2014)
3. T. Harada, T. Friedlaender and J. Angeles, The Development of an Innovative Two-DOF Cylindrical Drive: Design, in Proc. of IEEE International Conference on Robotics and Automation, pp. 6338--6344, (2014)
4. T. Fischera, C.M. Herra, M.C. Burryb and J.H. Frazer, Tangible interfaces to explain Gaudi's use of ruled-surface geometries Interactive systems design for haptic, nonverbal learning, Analysis and Preliminary Tests, Automation in Construction, 12, pp. 467--471 (2003)
5. Mniature Ball Screw with Ball Spline, KSS Co., Ltd., http://www.kssballscrew.com/us/product/product-09.html