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Demirtas, D. (author), Post, J.J. (author), Dankelman, J. (author)A joystick having more than two degrees of freedom, at least designed for movement in the x and y direction at right angles to a longitudinal axis thereof, and in a rotational direction around said longitudinal axis, and provided with a fourth degree of freedom in the direction of the longitudinal axis, wherein the same is provided with a handle...patent 2005