Virtual cooperating manipulator control for haptic interaction with NURBS surfaces. - Greg R. Luecke; James C. Edwards; Brian E. Miller (ICRA, 1997)

Passive Implementations for a Class of Static Nonlinear Environments in Haptic Display. - Brian E. Miller; J. Edward Colgate; Randy A. Freeman (ICRA, 1999)

Environment Delay in Haptic Systems. - Brian E. Miller; J. Edward Colgate; Randy A. Freeman (ICRA, 2000)

Guaranteed stability of haptic systems with nonlinear virtual environments. - Brian E. Miller; J. Edward Colgate; Randy A. Freeman (IEEE Trans. Robotics Autom., 2000)

On the role of dissipation in haptic systems. - Brian E. Miller; James Edward Colgate; Randy A. Freeman (IEEE Trans. Robotics, 2004)