Lisandro Puglisi, Roque J. Saltarén, Germán Rey Portolés, Héctor A. Moreno, Pedro F. Cárdenas, Cecilia E. Garcia Cena. Design and kinematic analysis of 3PSS-1S wrist for needle insertion guidance. Robotics and Autonomous Systems, 61(5):417-427, 2013. [doi]
Abstract is missing.