A Friction Differential and Cable Transmission Design for a 3-DOF Haptic Device with Spherical Kinematics - Salisbury Robotics
Phantom Premium Haptic Devices
Figure 1 from Kinematic and Dynamic Modeling of the PHANToM Premium 1.0 Haptic Device: Experimental Validation | Semantic Scholar
Experimental evaluation of magnified haptic feedback for robot‐assisted needle insertion and palpation - Meli - 2017 - The International Journal of Medical Robotics and Computer Assisted Surgery - Wiley Online Library