# Optimal torque distribution for a redundant 3-RRR spherical parallel manipulator used as a haptic medical device

> Research article (Robotics and Autonomous Systems, 2016) · cited 38× · AI/ML

**Wikidata**: [openalex:W2564487076](https://www.wikidata.org/wiki/openalex:W2564487076)  
**Source**: https://4ort.xyz/entity/optimal-torque-distribution-for-a-redundant-3-rrr-spherical-parallel-manipulator-used-as-a-haptic-medical-device