MECHANISM AND MACHINE THEORY, vol. 31, no. 5, page. 673 - 690, 1996-07
JOURNAL OF MECHANICAL DESIGN, vol. 118, no. 2, page. 214 - 219, 1996-06
KSME INTERNATIONAL JOURNAL, vol. 10, no. 2, page. 119 - 127, 1996-06
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION, vol. 12, no. 3, page. 471 - 478, 1996-06