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Parallel Architecture Manipulators for Use in Masticatory S..:

Narayanan, Madusudanan Sathia ; Kannan, Srikanth ; Zhou, Xiaobo..
International Journal of Intelligent Mechatronics and Robotics.  1 (2011)  4 - p. 100-122 , 2011
Link: https://doi.org/10.4018/ijimr.2011100106