On the feasibility and suitability of MR and ER based actuators in human friendly manipulators. - Alex S. Shafer; Mehrdad R. Kermani (IROS, 2009)

Design and validation of a Magneto-Rheological clutch for practical control applications in human-friendly manipulation. - Alex S. Shafer; Mehrdad R. Kermani (ICRA, 2011)

Design and development of a safe robot manipulator using a new actuation concept. - Peyman Yadmellat; Alexander S. Shafer; Mehrdad R. Kermani (ICRA, 2013)

Development of high performance intrinsically safe 3-DOF robot. - Alex S. Shafer; Mehrdad R. Kermani (ICRA, 2014)