Stretchable transducers for kinesthetic interactions in virtual reality. - Robert F. Shepherd; Bryan Peele; Benjamin Mac Murray; Jose A. Barreiros; Omer Shapira; Josef B. Spjut; David Luebke (SIGGRAPH Emerging Technologies, 2017)

Leveraging fluid resistance in soft robots. - Chaim C. Futran; Steven Ceron; Benjamin C. Mac Murray; Robert F. Shepherd; Kirstin H. Petersen (RoboSoft, 2018)

A variable shape and variable stiffness controller for haptic virtual interactions. - Benjamin C. Mac Murray; Bryan N. Peele; Patricia Xu; Josef B. Spjut; Omer Shapira; David Luebke; Robert F. Shepherd (RoboSoft, 2018)