The Marionette Bed: Automated Rolling and Repositioning of Bedridden Patients. - Arin Basmajian; Ernesto E. Blanco; Haruhiko Asada (ICRA, 2002)

Maneuvering a bed sheet for repositioning a bedridden patient. - Binayak Roy; Arin Basmajian; H. Harry Asada (ICRA, 2003)

Repositioning of a rigid body with a flexible sheet and its application to an automated rehabilitation bed. - Binayak Roy; Arin Basmajian; H. Harry Asada (IEEE Trans Autom. Sci. Eng., 2005)