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The Black Falcon: A Teleoperated Surgical Instrument for Minimally Invasive Surgery
IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Number 2, Victoria, BC, p.936–944, (1998)
Macro-Micro Control to Improve Bilateral Force-Reflecting Teleoperation
Lecture Notes in Control and Information Sciences: Experimental Robotics VI, p.413–422, (1999)