Mass/ inertia and joint friction minimization for a low-force five-dof haptic device - VLACHOS, Kostas; PAPADOPOULOS, Evangelos; MITROPOULOS, Dionissios N (2004 IEEE International Conference on Robotics and Automation (April 26-May 1, 2004, Hilton New Orleans Riverside, New Orleans, LA, USA), 2004)
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