Observations and models for needle-tissue interactions. - Sarthak Misra; Kyle B. Reed; Benjamin W. Schafer; K. T. Ramesh; Allison M. Okamura (ICRA, 2009)

Mechanics of Flexible Needles Robotically Steered through Soft Tissue. - Sarthak Misra; Kyle B. Reed; Benjamin W. Schafer; K. T. Ramesh; Allison M. Okamura (Int. J. Robotics Res., 2010)

Simulation of conventional cold-formed steel sections formed from Advanced High Strength Steel (AHSS). - Hamid Foroughi; Benjamin W. Schafer (CoRR, 2017)

Combining Subsystem and Full System Data with Application to Cold-Formed Steel Shear Wall. - Long Wang 016; Guanbo Bian; James C. Spall; Benjamin W. Schafer (ACC, 2018)