# Constrained haptic-guided shared control for collaborative human–robot percutaneous nephrolithotomy training

> Research article (Mechatronics, 2021) · cited 13× · AI/ML

**Wikidata**: [openalex:W3135374307](https://www.wikidata.org/wiki/openalex:W3135374307)  
**Source**: https://4ort.xyz/entity/constrained-haptic-guided-shared-control-for-collaborative-humanrobot-percutaneous-nephrolithotomy-training