@article {Hwang:March 2007:0169-1864:329,
	author = "Hwang, Gilgueng",
	author = "Szemes, Peter Tamas",
	author = "Ando, Noriaki",
	author = "Hashimoto, Hideki",
	title = "Development of a single-master multi-slave tele-micromanipulation system",
	journal = "Advanced Robotics",
	volume = "21",
	year = "March 2007",
	abstract = "This paper proposes the development of a human-robot cooperative tele-micromanipulation system through a network. We have developed a novel single-master (PHANToM haptic device) multi-slave (6-d.o.f. parallel manipulator) scaled tele-micromanipulation system which enables human operators to perform meso or small-size object manipulation such as assembly or manufacturing with sufficient telepresence. It is expected to improve the human's operability and the overall dexterity of conventional tele-micromanipulation systems. To overcome the problems of the multiple parallel mechanism manipulator, virtual kinematic mapping is considered, based on the manipulability analysis of the workspace. The pick-and-place experiment results prove the validity of the developed single-master multi-slave system.",
	pages = "329-349(21)",
	url = "http://www.ingentaconnect.com/content/vsp/arb/2007/00000021/F0020003/art00004"
	doi = "doi:10.1163/156855307780132054"
}