1. and Charlotte robot technology for space and terrestrial applications, in 25th International Conference on Environmental Systems, San Diego, SAE article 951520, 1995.
2. and Construction and demonstration of a 9-String 6-DOF force reflecting joystick for telerobotics, NASA International Conference on Space Telerobotics, 1989, Vol. 4, pp. 55-63.
3. and A new haptic display for both-hands-operation: SPIDAR-8, in 1999 IEEE International Symposium on Intelligent Signal Processing and Communication Systems, pp. 569-572.
4. and New type of master robot for teleoperation using a radial wire drive system, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Yokohama, Japan, 26-30 July 1993, pp. 55-60.