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4. Murat Cenk Cavusoglu David Feygin Kinematics and Dynamics of Phantom (TM) model 1.5 Haptic Interface https://www2.eecs.berkeley.edu/Pubs/TechRpts/2001/ERL-01-15.pdf
5. Kinematics and Dynamics of Phantom(TM) model 1.5 Haptic Interface Murat Cenk Cavusoglu David Feygin 2001