A Multi-critieria Design Optimization Framework for Haptic Interfaces.

Generally speaking, this paper is well written and clear. The methods
used are not really new, but their application to this problem is interesting.

The paper presents a framework for choosing design parameters when
designing a haptic interface with closed kinematic chains involving a
trade-off between kinematic and dynamic design criteria.

The authors consider various methods and
use a five-bar linkage example to show that by
following their framework, one can obtain a better design with
respect to  both kinematic and dynamic criteria.

The paper essentially is talking about a two-objective optimization
problem (maximize GII, global isotropy index, and GDI, global dynamic
index).   A modified version of the culling algorithm is used in the
study of determining the optimum design.  However, the authors didn't
mention any details about the modified version of the culling algorithm.

This paper has 8 pages and the font used in the paper is very small;
the authors will need to condense the paper to meet length requirements.
A good place to condense things is in the first two sections which, at
2.5 pages, are longer than necessary.