# An Asynchronous Multi-Body Simulation Framework for Real-Time Dynamics, Haptics and Learning with Application to Surgical Robots

> Research article (2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019) · cited 16× · AI/ML

**Wikidata**: [openalex:W3003705467](https://www.wikidata.org/wiki/openalex:W3003705467)  
**Source**: https://4ort.xyz/entity/an-asynchronous-multi-body-simulation-framework-for-real-time-dynamics-haptics-and-learning-with-application-to-surgical