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Stability of Haptic Rendering: Discretization, Quantization, Time-Delay and Coulomb Effects
IEEE Transactions on Robotics, Volume 22, Number 2, p.256–268, (2006)
A Criterion for the Passivity of Haptic Devices
IEEE Int. Conference on Robotics and Automation, Barcelona, Spain, p.2452–2457, (2005)
The effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering
World Haptics Conference, Pisa, Italy, p.237–246, (2005)