The Black Falcon: a teleoperated surgical instrument for minimally invasive surgery. - Akhil J. Madhani; Günter Niemeyer; John Kenneth Salisbury Jr. (IROS, 1998)

Macro-Micro Control of Improve Bilateral Force-Reflecting Teleoperation. - Akhil J. Madhani; Günter Niemeyer; John Kenneth Salisbury Jr. (ISER, 1999)

Bringing physical characters to life. - Akhil J. Madhani (HRI, 2009)