FREEDOM-7: A High Fidelity Seven Axis Haptic Device with Application to Surgical Training.
Vincent HaywardPedro GregorioOliver R. AstleyStephanie GreenishMichel DoyonL. LessardJohn McDougallIan SinclairS. BoelenX. ChenJ.-G. DemersJ. PoulinI. BenguiguiN. AlmeyB. MakucX. ZhangPublished in: ISER (1997)