# Time efficient stiffness model computation for a parallel haptic mechanism via the virtual joint method

> Research article (Mechanism and Machine Theory, 2019) · cited 30× · AI/ML

**Wikidata**: [openalex:W2976692949](https://www.wikidata.org/wiki/openalex:W2976692949)  
**Source**: https://4ort.xyz/entity/time-efficient-stiffness-model-computation-for-a-parallel-haptic-mechanism-via-the-virtual-joint-method