Output

Please find a selected overview of the Delft Haptics Lab output here:

<the list is not complete yet, still under construction>

Journal publications

  2017

  • T.L. Gibo, W. Mugge and D.A. Abbink (2017). “Trust in haptic assistance: Weighting visual and haptic cues based on error history”, Experimental Brain Research, 235(8): 2533-2546.

  2016

  • R.J. Kuiper, D.J.F. Heck, I.A. Kuling and D.A. Abbink (2016). “Evaluation of Haptic and Visual Cues for Repulsive or Attractive Guidance in Nonholonomic Steering Tasks”, IEEE Trans. on Human-Machine Interfaces.
  • T.L. Gibo and D.A. Abbink (2016). “Movement strategy discovery during training via haptic guidance,” IEEE Trans. Haptics, 9(2):243-254.
  • M.Mulder, D.A.Abbink and T. Carlson (2016). “Introduction to the Special Issue on Shared Control “, Journal of Human-Robot Interaction, 4(3), 1-3 . <PDF>. Editor’s Introduction to Special Issue on Shared Control.

2015

  • A. G. L. Hoevenaars, P. Lambert, and J. L. Herder, “Jacobian-based stiffness analysis method for parallel manipulators with non-redundant legs,” Proc. Inst. Mech. Eng. Part C J. Mech. Eng. Sci., Sep. 2015. DOI.
  • A. G. L. Hoevenaars, C. Gosselin, P. Lambert, and J. Herder, “Experimental Validation of Jacobian-Based Stiffness Analysis Method for Parallel Manipulators with Non-Redundant Legs,” J. Mech. Robot., Dec. 2015. DOI.
  • A. de Jonge, J. Wildenbeest, H. Boessenkool, D.A. Abbink (2015), “The effect of trial-by-trial adaptation on conflicts in Haptic Shared Control for Free-Air Teleoperation Tasks”, IEEE Transactions on Haptics, Vol (PP), Issue:99. DOI 
  • S.M. Petermeijer, D.A. Abbink, M. Mulder, J.C.F. de Winter (2015). The Effect of Haptic Support Systems on Driver Performance: A Literature Survey. IEEE Transactions on Haptics, Vol 8 (4), pp. 467-479. DOI 
  • S.M. Petermeijer, D.A. Abbink, and J.C.F. de Winter. “Should drivers be operating within an automation-free bandwidth? Evaluating haptic steering support systems with different levels of authority” Human Factors, 57 (1), pp 5-20. DOI.   Winner of the Human Factors Prize 2014!
  • J. van Oosterhout, J. G. W. Wildenbeest, H. Boessenkool, C. J. M. Heemskerk, M.R. de Baar, F.C.T.  van der Helm, and D. A. Abbink (2015). “Haptic Shared Control in Tele-Manipulation: Effects of Inaccuracies in Guidance on Task Execution” IEEE Trans. Haptics., vol.8, no.2, pp.164-175, April-June DOI.

2014

  • J.F. Schorsch, A.Q.L. Keemink, A.H.A. Stienen, and D.A. Abbink, “A Novel Self-Aligning Mechanism to Decouple Force and Torques for a Planar Exoskeleton Joint,” Mechanical Sciences, vol 5, pp. 29-35, Aug. 2014. DOI – <pdf>
  • Venrooij, D. A. Abbink, M. Mulder, M. M. van Paassen, M. Mulder, F. C. T. van der Helm, and H. H. Bulthoff, “A biodynamic feedthrough model based on neuromuscular principles.,” IEEE Trans. Cybern., vol. 44, no. 7, pp. 1141–54, Jul. 2014. DOI
  • J. Venrooij, M. Mulder, D. A. Abbink, M. M. van Paassen, M. Mulder, F. C. T. van der Helm, and H. H. Bulthoff, “Mathematical biodynamic feedthrough model applied to rotorcraft.,” IEEE Trans. Cybern., vol. 44, no. 7, pp. 1025–38, Jul. 2014. DOI
  • J. Venrooij, M. M. van Paassen, M. Mulder, D. A. Abbink, M. Mulder, F. C. T. van der Helm, and H. H. Bulthoff, “A Framework for Biodynamic Feedthrough Analysis-Part I: Theoretical Foundations.,” IEEE Trans. Cybern., vol. 44, no. 9, pp. 1686 – 1698, May 2014. DOI
  • J. Venrooij, M. M. van Paassen, M. Mulder, D. A. Abbink, M. Mulder, F. C. T. van der Helm, and H. H. Bulthoff, “A Framework for Biodynamic Feedthrough Analysis—Part II: Validation and Application,” IEEE Trans. Cybern., vol. 44, no. 9, pp. 1699–1710, Sep. 2014. DOI
  • H. Boessenkool, J. Thomas, C.J.M. Heemskerk, M.R. de Baar, M. Steinbuch, D.A. Abbink, “Task analysis of human-in-the-loop tele-operated maintenance: What can be learned from JET?” Fusion Engineering and Design
  • D. Katzourakis, D.A. Abbink, E. Velenis, E. Holweg, R. Happee, “Driver’s Arms’ Time-Variant Neuromuscular Admittanc During Real Car Test-Track Driving”, IEEE Instrumentation and Measurement, vol 63, Issue 1, 2014. DOI<pdf>

2013

  • J. Venrooij, M. D.  Pavel, M. Mulder, F. C. T. van der Helm, and H. H. Bülthoff, “A practical biodynamic feedthrough model for helicopters,” CEAS Aeronautical J., vol. 4, no. 4, pp. 421-432, Dec. 2013. DOI <pdf>
  • J. G. W. Wildenbeest, D. A. Abbink, C. J. M. Heemskerk, F. C. T. van Der Helm, and H. Boessenkool, “The Impact of Haptic Feedback Quality on the Performance of Teleoperated Assembly Tasks,” IEEE Trans. Haptics, vol. 6, no. 2, pp. 242–252, 2013. DOI
  • H. Boessenkool, D. A. Abbink, C. J. M. Heemskerk, F. C. T. van Der Helm, and J. G. W. Wildenbeest, “A Task-Specific Analysis of the Benefit of Haptic Shared Control During Telemanipulation,” IEEE Trans. Haptics, vol. 6, no. 1, pp. 2–12, 2013. DOI – <pdf>
  • W. Mugge, D. A. Abbink, A. C. Schouten, F. C. T. van der Helm, J. H. Arendzen, and C. G. M. Meskers, “Force control in the absence of visual and tactile feedback.,” Exp. Brain Res., vol. 224, no. 4, pp. 635–45, Feb. 2013.
  • J. Venrooij, M. Mulder, D. A. Abbink, M. M. van Paassen, F. C. T. van der Helm, H. H. Bülthoff, and M. Mulder, “A New View on Biodynamic Feedthrough Analysis: Unifying the Effects on Forces and Positions.,” IEEE Trans. Cybernetics, vol. 43, no. 1, pp. 129–142, Feb. 2013. DOI <pdf>

2012

  • M. Mulder, D. A. Abbink, and E. R. Boer, “Sharing control with haptics: seamless driver support from manual to automatic control.,” Hum. Factors, vol. 54, no. 5, pp. 786–98, Oct. 2012.

2011

  • M. Mulder, D. A. Abbink, M. M. van Paassen, and M. Mulder, “Design of a Haptic Gas Pedal for Active Car-Following Support,” IEEE Trans. Intell. Transp. Syst., vol. 12, no. 1, pp. 268–279, Mar. 2011.
  • D. A. Abbink, M. Mulder, and E. R. Boer, “Haptic shared control: smoothly shifting control authority?,” Cogn. Technol. Work, vol. 14, no. 1, pp. 19–28, Nov. 2011.
  • D. A. Abbink, M. Mulder, F. C. T. van Der Helm, M. Mulder, and E. R. Boer, “Measuring Neuromuscular Control Dynamics During Car Following With Continuous Haptic Feedback,” IEEE Trans. Syst. Man Cybern. Part B, vol. 41, no. 5, pp. 1239–1249, 2011.
  • D. Katzourakis, D. A. Abbink, R. Happee, and E. Holweg, “Steering Force Feedback for Human–Machine-Interface Automotive Experiments,” IEEE Trans. Instrum. Meas., vol. 60, no. 1, pp. 32–43, Jan. 2011.
  • D. Katzourakis, E. Velenis, D. A. Abbink, R. Happee, and E. Holweg, “Race-Car Instrumentation for Driving Behavior Studies,” IEEE Trans. Instrum. Meas., p., 2011.
  • J. Venrooij, D. A. Abbink, M. Mulder, M. M. van Paassen, and M. Mulder, “A Method to Measure the Relationship Between Biodynamic Feedthrough and Neuromuscular Admittance.,” IEEE Trans. Syst. Man Cybern. B Syst. Humans, vol. 41, no. 4, pp. 1158–1169, Feb. 2011.

2010

  • M. Mulder, J. J. A. Pauwelussen, M. M. van Paassen, M. Mulder, and D. A. Abbink, “Active Deceleration Support in Car Following,” IEEE Trans. Syst. Man, Cybern. – Part A Syst. Humans, vol. 40, no. 6, pp. 1271–1284, 2010.
  • W. Mugge, D. A. Abbink, A. C. Schouten, J. P. A. Dewald, and F. C. T. van Der Helm, “A rigorous model of reflex function indicates that position and force feedback are flexibly tuned to position and force tasks.,” Exp. brain Res., vol. 200, no. 3–4, pp. 325–40, Jan. 2010.

2008-2009

  • D. A. Abbink and M. Mulder, “Exploring the Dimensions of Haptic Feedback Support in Manual Control,” J. Comput. Inf. Sci. Eng., vol. 9, no. 1, p. 011006, 2009.
  • M. Mulder, M. Mulder, M. M. van Paassen, and D. A. Abbink, “Haptic gas pedal feedback.,” Ergonomics, vol. 51, no. 11, pp. 1710–20, Nov. 2008.
  • J. C. F. de Winter, M. Mulder, M. M. van Paassen, D. A. Abbink, and P. A. Wieringa, “A two-dimensional weighting function for a driver assistance system.,” IEEE Trans. Syst. Man, Cybern. Part B, Cybern., vol. 38, no. 1, pp. 189–95, Feb. 2008.
PhD Theses
  • H. Boessenkool (2017), “Haptics Assistance for teleoperated maintenance of fusion plants: task analysis, design and evaluation”, PhD dissertation, Eindhoven University of Technology, The Netherlands, June 2017 <pdf>
  • M. Hichert (2017), “User capacities and operation forces: Requirements for body-powered upper-limb prostheses”, Delft University of Technology, Delft, The Netherlands, Feb 2017 –  <pdf>
  • J. Venrooij (2014), “Measuring, modeling and mitigating biodynamic feedthrough”, PhD dissertation, Aerospace Engineering, Delft University of Technology, Delft, The Netherlands, Mar 2014 – DOI – <pdf>
  • P. Estevez (2012 06) – <download>
  • P. Lambert (2013 05) – <download>
  • G. Christiansson (2007 10) – <download>
  • M. Mulder, “Haptic Gas Pedal Feedback for Active Car-Following Support”, PhD dissertation, Aerospace Engineering, Delft University of Technology, Delft, The Netherlands, Jan 2007 – <pdf>
  • D.A. Abbink, “Neuromuscular analysis of haptic gas pedal feedback during car following”, PhD dissertation, 3mE, Delft University of Technology, Delft, The Netherlands, Dec 2006 – UUID<pdf>
Books and Book Chapters
  • D. A. Abbink and M. Mulder, “Neuromuscular Analysis as a Guideline in designing Shared Control,” in Advances in Haptics, 2010, pp. 499–517.
Peer-reviewed Conference Publications (>= 6 pages)

2016

  • R.J. Kuiper, X. Chen, J.C.L. Frumau and S.A. Miedema, “Reduction of Energy Consumption when using a Grab for Deep-Sea Mining Operation”, in Offshore Technology Conference (OTC), 2016 on, vol., no., pp., 2-5 May 2016,

2015

  • M. Mulder and D.A. Abbink, “Muscle Fatigue Due to Steering Wheel Vibrations: An Analysis of the Influence of Steering Wheel Dynamics,” in Systems, Man, and Cybernetics (SMC), 2015 IEEE International Conference on , vol., no., pp.903-910, 9-12 Oct. 2015. DOI
  • D.W.J. van der Wiel, M.M. van Paassen, M. Mulder, M. Mulder, D.A. Abbink “Driver Adaptation to Driving Speed and Road Width: Exploring Parameters for Designing Adaptive Haptic Shared Control,” in Systems, Man, and Cybernetics (SMC), 2015 IEEE International Conference on , vol., no., pp.3060-3065, 9-12 Oct. 2015, DOI

2014

  • R. Boink, M. Mulder, and D. A. Abbink, “Understanding and Reducing Conflicts between Driver and Haptic Shared Control,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2014, pp. 1510 – 1515. DOI
  • S. de Nijs, M. Mulder, and D. A. Abbink, “The Value of Haptic Feedback in Lane Keeping,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2014, pp. 3599 – 3604. DOI
  • J. Venrooij, M. Mulder, D. A. Abbink, M. M. van Paassen, M. Mulder, F. C. T. van der Helm, and H. H. Bulthoff, “Admittance-adaptive Model-based Cancellation of Biodynamic Feedthrough,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2014, pp. 1946 – 1951. DOI
  • V. Honing, T.L. Gibo, R.J. Kuiper, and D.A. Abbink, “Training with haptic shared control to learn a slow dynamic system,” in 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2014, pp. 3126-3131. DOI
  • J.F. Schorsch, A.Q.L. Keemink, A.H.A. Stienen, F.C.T. van der Helm, and D.A. Abbink, “The Influence of Human-Robot Interaction Order During Fast Lifting Tasks for Different Levels of Weight Compensation,” BioRob2014, Sao Paulo, Brazil, August 12th-15th, 2014.
  • P. Lambert and J.L. Herder, “Self Dual Topology of Parallel Mechanisms with Configurable Platforms”, in Proceedings of the 6th International Workshop on Computational Kinematics (CK2013), 2014, vol. 15, pp. 291–298. DOI
  • A. G. L. Hoevenaars, P. Lambert, and J. L. Herder, “Kinematic Design of Two Elementary 3DOF Parallel Manipulators with Configurable Platforms,” in Proceedings of the 6th International Workshop on Computational Kinematics (CK2013), 2014, vol. 15, pp. 315–322. DOI.
  • A. G. L. Hoevenaars, P. Lambert, and J. L. Herder, “Generalized Jacobian Analysis of Parallel Manipulators With Multiple End-Effectors,” in Volume 5A: 38th Mechanisms and Robotics Conference, 2014, p. V05AT08A081. DOI.

2013

  • J.F. Schorsch, A.Q.L. Keemink, A.H.A. Stienen, and D.A. Abbink, A Novel Self-Aligning Mechanism to Decouple Force and Torques for a Planar Exoskeleton Joint,” Design of Medical Devices: Europe Conference 2013, Delft, The Netherlands, October 22nd-24th, 2013.
  • J.G.W. Wildenbeest, D.A. Abbink, J.F. Schorsch, “Haptic Transparency Increases the Generalizability of Motor Learning During Telemanipulation,” World Haptics Conference 2013, Daejeon, South Korea, April 14th-18th 2013. DOI
  • H. Boessenkool, D. A. Abbink, C. J. M. Heemskerk, M. Steinbuch, M. R. de Baar, J. G. W. Wildenbeest, D. M. S. Ronden, and J. F. Koning, “Analysis of human-in-the-loop tele-operated maintenance inspection tasks using VR,” in Fusion Engineering and Design, pp. 2164–2167, 2013. DOI – <pdf>
  • R.J. Kuiper, S.A. Miedema, J.C.L. Frumau, “Influence of the Hyperbaric Effect on Apparent Material Strength of Fully Saturated Porous Rock for Low Strain Rates,” 2013 Offshore Technology Conference, May 2013. DOI<pdf>
  • R.J. Kuiper and J.C.L. Frumau and F.C.T. van der Helm and D.A. Abbink, “Haptic Support for Bi-manual Control of a Suspended Grab for Deep-Sea Excavation,” IEEE International Conference on Systems, Man, and Cybernetics, pp. 1822-1827, Oct 2013. DOI<pdf>
  • J. Smisek, M. M. Van Paassen, M. Mulder, and D. A. Abbink, “Neuromuscular Analysis based Tuning of Haptic Shared control for UAV Collision Avoidance,” in IEEE International Conference on Systems, Man, and Cybernetics, 2013.
  • A. G. L. Hoevenaars and J. L. Herder, “Application-specific modelling of assisted telemanipulation systems in the early design phase using the i* framework,” in 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, 2013, pp. 692–697. DOI
  • P Lambert and J.L. Herder, “Mobility Analysis of Non Series-Parallel Mechanisms”  in New Trends in Mechanism and Machine Science, 2013 , pp. 63-71. DOI

2012

  • J. van Oosterhout, D. A. Abbink, J. F. Koning, H. Boessenkool, J. G. W. Wildenbeest, and C. J. M. Heemskerk, “Haptic shared control improves hot cell remote handling despite controller inaccuracies,” in Fusion Engineering and Design, 2012, pp. 4–7. DOI – <pdf>
  • J. Venrooij, M. D. Pavel, M. Mulder, F. C. T. van der Helm, H. H. Bülthoff, “A practical biodynamic feedthrough model for helicopters,” in 38th European Rotorcraft Forum (ERF), 2012, pp. 842-854. <pdf>
  • D. A. Abbink, D. Cleij, M. Mulder, and M. M. Van Paassen, “The importance of including knowledge of neuromuscular behaviour in haptic shared control,” in 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2012, pp. 3350–3355.
  • M. Mulder, D. A. Abbink, E. R. Boer, and M. M. van Paassen, “Human-centered Steer-by-Wire design: Steering wheel dynamics should be task dependent,” in 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2012, pp. 3015–3019.
  • J. Venrooij, M. Mulder, M. M. van Paassen, D. A. Abbink, F. C. T. van der Helm, M. Mulder, H. H. Bülthoff, “How effective is an armrest in mitigating biodynamic feedthrough?,” in 2012 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2012  pp.2150,2155. DOI <pdf>

2011

  • J. Venrooij, D. Yilmaz, M. D. Pavel, G. Quaranta, M. Jump, and M. Mulder, “Measuring biodynamic feedthrough in helicopters,” in 37th European Rotorcraft Forum (ERF), 2011, pp. 958-967. <pdf>
  • M. Mulder and D. A. Abbink, “Correct and faulty driver support from shared haptic control during evasive maneuvers,” in 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011, pp. 1057–1062.
  • M. Mulder, T. Verspecht, D. A. Abbink, M. M. van Paassen, D. C. Balderas S., A. C. Schouten, E. de Vlugt, and M. Mulder, “Identification of time variant neuromuscular admittance using wavelets,” in 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011, pp. 1474–1480.
  • J. Venrooij, M. Mulder, M. M. van Paassen, D. A. Abbink, H. H. Bülthoff, M. Mulder, M., “Cancelling biodynamic feedthrough requires a subject and task dependent approach,” in 2011 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2011, pp.1670,1675. DOI <pdf>
  • H. Boessenkool, D. A. Abbink, C. J. M. Heemskerk, and F. C. T. van Der Helm, “Haptic Shared Control Improves Tele-Operated Task Performance towards Performance in Direct Control,” in World Haptics Conference, 2011, pp. 433–438. DOI – <pdf>
  • T. van Dam, P. Lambert and J. L. Herder. “Static Balancing of Translational Parallel Mechanisms.” in ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, 2011, pp. 883-889.  DOI

2010

  • KK Tsoi, M Mulder, DA Abbink (2010) Balancing safety and support: Changing lanes with a haptic lane-keeping support system
    IEEE Systems Man and Cybernetics Conference, 2010
  • Mulder M. and Abbink D.A., “Sharing control with elderly drivers: Haptic guidance during curve negotiation,” in Proceedings of the 11th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, 2010, pp. 310–315.
  • M. Mulder, D. A. Abbink, M. M. van Paassen, and M. Mulder, “Haptic gas pedal support during visually distracted car following,” in Proceedings of the 11th IFAC/IFIP/IFORS/IEA Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, 2010, pp. 322–327.
  • P. Lambert, HH Langen and RH Munnig Schmidt. “A novel 5 DOF fully parallel robot combining 3T1R motion and grasping.” in ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. 2010. pp. 1123-1130. DOI
  • P. Estevez, S. Khan, P. Lambert, M. Porta, I. Polat, C. Scherer, M. Tichem, U. Staufer, HH. Langen and RH. Munnig Schmidt. “A Haptic Tele-operated system for Microassembly.” In Precision Assembly Technologies and Systems, pp. 13-20. Springer Berlin Heidelberg, 2010.

2004-2009

  • Mulder, M. M. van Paassen, M. Mulder, and D. A. Abbink, “Haptic Car-Following Support with Deceleration Control,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2009, pp. 1686–1691.
  • Mulder, D. A. Abbink, and E. R. Boer, “The Effect of Haptic Guidance on Curve Negotiation Behavior of Young, Experienced Drivers,” in Proceedings of the IEEE International Conference on Systems Man and Cybernetics, 2008, pp. 804–809.
  • M. Mulder, M. Mulder, M. M. van Paassen, and D. A. Abbink, “Identification of Driver Car-Following Behaviour,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2005, pp. 2905–2910.
  • M. Mulder, M. Mulder, M. M. van Paassen, and D. A. Abbink, “Effects of Lead Vehicle Speed and Separation Distance on Driver Car-Following Behavior,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2005, no. 4, pp. 399–404.
  • M. Mulder, M. Mulder, M. M. van Paassen, S. Kitazaki, S. Hijikata, and E. R. Boer, “Car-Following Support with Haptic Gas Pedal Feedback,” in Proceedings of the IFAC Symposium on Analysis, Design, and Evaluation of Human-Machine Systems, 2004, vol. 3, no. 1, pp. 117–123.
  • M. Mulder, M. Mulder, M. M. van Paassen, S. Kitazaki, S. Hijikata, and E. R. Boer, “Reaction-Time Task During Car Following with an Active Gas Pedal,” in Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics, 2004, pp. 2465–2470.
Awards for Publications and Theses
  • Human Factors Prize 2014: S.M. Petermeijer, D.A. Abbink, and J.C.F. de Winter. “Should drivers be operating within an automation-free bandwidth? Evaluating haptic steering support systems with different levels of authority” Human Factors (in press).
  • Top 5 cited paper: D. A. Abbink, M. Mulder, and E. R. Boer, “Haptic shared control: smoothly shifting control authority?,” Cogn. Technol. Work, vol. 14, no. 1, pp. 19–28, Nov. 2011.
  • Best IEEE SMC student paper: J. Venrooij, D. A. Abbink, M. Mulder, M. M. van Paassen, and M. Mulder, “Biodynamic feedthrough is task dependent,” in Proceedings of the IEEE International Conference on Systems, Man and Cybernetics, 2010, no. Cd, pp. 2571–2578.
  • Best automotive MSc thesis 2010 (Spykerprijs): “Development of a Haptic Feedback Transition Algorithm for Lane Changes”, K. Tsoi, MSc thesis.
  • Nomination for best MSc thesis 2010 (Spykerprijs): Mauro della Penna, MSc Thesis
  • Best PhD thesis in the area of Movement Sciences: David Abbink’s PhD thesis.
Patents
  • M. Della Penna, M. M. van Paassen, D. A. Abbink, M. Mulder, and M. Mulder, “Method of Steering a Vehicle and such a Vehicle,” N20048492011.
  • M. Mulder, D. A. Abbink, M. M. van Paassen, M. Mulder, F. C. T. van der Helm, E. R. Boer, and Y. Takada, “SYSTEM PROVIDED WITH AN ASSISTANCE-CONTROLLER FOR ASSISTING AN OPERATOR OF THE SYSTEM, CONTROL-OPERATION ASSISTING DEVICE, CONTROL-OPERATION ASSISTING METHOD, DRIVING-OPERATION ASSISTING DEVICE, AND DRIVING-OPERATION ASSISTING METHOD,” WO 2010/038317 A12010.
  • P. Lambert, “Parallel Kinematic Robot with 5 Legs” WO2011093703A1
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