@INPROCEEDINGS{krut2004,
  AUTHOR =       {Krut, S\'ebastien AND Company, Olivier AND Pierrot, Fran\c{c}ois},
  TITLE =        "Force Performance Indexes for Parallel Mechanisms with Actuation Redundancy, Especially for Parallel Wire-Driven Manipulators",
  BOOKTITLE =    "Proc. of IEEE/RSJ IROS 2004: Int. Conf. on Intelligent Robots and Systems",
  YEAR =         "2004",
  address =      "Sendai, Japan",
  month =        "September 28 -October 2",
  pages =        "3936-3941",
}