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Author(s):
Can, S.; Jensen, B.; Dean-Leon, E.; Staub, C.; Knoll, A.; Fiolka, A.; Schneider, A.; Meining, A.; Feussner, H. 
Title:
Kinematics, control and workspace analysis of a bowden wire actuated manipulator for minimally invasive single-port surgery 
Book / Congress title:
IEEE International Conference on Robotics and Biomimetics (ROBIO) 
Publisher:
IEEE 
Year:
2012