The relationship between energy, phase charge, impedance, and perceived sensation in electrotactile stimulation. - Aadeel Akhtar; Brandon Boyce; Timothy Bretl (HAPTICS, 2014)

Passive Mechanical Skin Stretch for Multiple Degree-of-Freedom Proprioception in a Hand Prosthesis. - Aadeel Akhtar; Mary Nguyen; Logan Wan; Brandon Boyce; Patrick Slade; Timothy Bretl (EuroHaptics (2), 2014)

Controlling sensation intensity for electrotactile stimulation in human-machine interfaces. - Joseph Sombeck; Brandon Boyce; Timothy Bretl (Sci. Robotics, 2018)