C. Sutherland, K. Hashtrudi-zaad, R. Sellens, P. Abolmaesumi, and P. Mousavi, An augmented reality haptic training simulator for spinal needle procedures, IEEE Transactions on Biomedical Engineering, vol.60, pp.3009-3018, 2013.

L. Panait, E. Akkary, R. L. Bell, K. E. Roberts, S. J. Dudrick et al., The Role of Haptic Feedback in Laparoscopic Simulation Training, Journal of Surgical Research, vol.156, issue.2, pp.312-316, 2009.

T. R. Coles, D. Meglan, and N. W. John, The role of haptics in medical training simulators: A survey of the state of the art, IEEE Transactions on Haptics, vol.4, issue.1, pp.51-66, 2011.

N. Vaughan, V. N. Dubey, T. W. Wainwright, and R. G. Middleton, A review of virtual reality based training simulators for orthopaedic surgery, Medical Engineering & Physics, vol.38, issue.2, pp.59-71, 2016.

A. Licona, F. Liu, A. Lelevé, D. Eberard, and M. T. Pham, Collaborative hands-on training on haptic simulators, Proceedings of the 2018 7th International Conference on Mechatronics and Control Engineering, 2018.
URL : https://hal.archives-ouvertes.fr/hal-01949623

B. Khademian and K. Hashtrudi-zaad, Performance issues in collaborative haptic training, Proc. of the IEEE International Conference on Robotics and Automation (ICRA 2007), pp.3257-3262, 2007.

B. Khademian and K. Hashtrudi-zaad, Shared control architectures for haptic training: Performance and coupled stability analysis, The International Journal of Robotics Research, vol.30, issue.13, pp.1627-1642, 2011.

A. Zakerimanesh, F. Hashemzadeh, and A. R. Ghiasi, Dual-user nonlinear teleoperation subjected to varying time delay and bounded inputs, ISA Transactions, vol.68, pp.33-47, 2017.

B. Khademian and K. Hashtrudi-zaad, A framework for unconditional stability analysis of multimaster/multislave teleoperation systems, IEEE Transactions on Robotics, vol.29, pp.684-694, 2013.

M. Shahbazi, S. F. Atashzar, H. A. Talebi, and R. V. Patel, Novel cooperative teleoperation framework: Multi-master -single-slave system, IEEE/ASME Transactions on Mechatronics, vol.20, pp.1668-1679, 2015.

F. Liu, A. Lelevé, D. Eberard, and T. Redarce, A dual-user teleoperation system with adaptive authority adjustment for haptic training, Mechanisms and Machine Science, vol.39, pp.165-177, 2016.
URL : https://hal.archives-ouvertes.fr/hal-01199674

B. Khademian and K. Hashtrudi-zaad, Dual-user teleoperation systems: New multilateral shared control architecture and kinesthetic performance measures, IEEE/ASME Transactions on Mechatronics, vol.17, issue.5, pp.895-906, 2012.

S. Stramigioli, Modeling and IPC Control of Interactive Mechanical Systems -a Coordinate-Free Approach, 2008.

F. Liu, A. Lelevé, T. Redarce, and D. Eberard, A dual-user teleoperation system with adaptive authority adjustment for haptic training, Proc. of the 4th International Workshop on Medical and Service Robots (MESROB 2015), 2015.
URL : https://hal.archives-ouvertes.fr/hal-01199674

M. Tavakoli, R. V. Patel, M. Moallem, and A. Aziminejad, Haptics For Teleoperated Surgical Robotic Systems, 2008.

C. I. Aldana, E. N. No, L. B. , and E. Romero, Operational space consensus of multiple heterogeneous robots without velocity measurements, Journal of the Franklin Institute, vol.351, issue.3, pp.1517-1539, 2014.

T. Sansanayuth, I. Nilkhamhang, and K. Tungpimolrat, Teleoperation with inverse dynamics control for phantom omni haptic device, Proc. of SICE Annual Conference (SICE), pp.2121-2126, 2012.

C. Zilles and J. Salisbury, A constraint-based god-object method for haptic display, Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 95), vol.3, pp.146-151, 1995.

M. S. Prasad, S. Purswani, and M. Manivannan, Force JND for right index finger using contra lateral force matching paradigm, Proc of Conference ICoRD'13, pp.365-375, 2013.