Architectures of Soft Pneumatic Actuators Inspired by Muscle Fiber Arrangements. - Sreeshankar Satheeshbabu; Nicholas Thompson; Chenzhang Xiao; Girish Krishnan (RoboSoft, 2019)

Design and Control of a Ballbot Drivetrain with High Agility, Minimal Footprint, and High Payload. - Chenzhang Xiao; Mahshid Mansouri; David Lam; Joao Ramos; Elizabeth T. Hsiao-Wecksler (IROS, 2023)

Design and Validation of a Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction*. - Seung Yun Song; Yixiang Guo; Chentai Yuan; Nadja Marin; Chenzhang Xiao; Adam Bleakney; Jeannette Elliott; Joao Ramos; Elizabeth T. Hsiao-Wecksler (RO-MAN, 2023)

Hands-Free Physical Human-Robot Interaction and Testing for Navigating a Virtual Ballbot. - Seung Yun Song; Nadja Marin; Chenzhang Xiao; Ryu Okubo; Joao Ramos; Elizabeth T. Hsiao-Wecksler (RO-MAN, 2023)

Validation Study of Torso-Dynamics Estimation System (TES) for Hands-Free Physical Human-Robot Interaction. - Seung Yun Song; Yixiang Guo; Chentai Yuan; Nadja Marin; Chenzhang Xiao; Adam Bleakney; Jeannette Elliott; Joao Ramos; Elizabeth T. Hsiao-Wecksler (IEEE DataPort, 2023)

Driving a Ballbot Wheelchair with Hands-Free Torso Control. - Seung Yun Song; Nadja Marin; Chenzhang Xiao; Mahshid Mansouri; Joao Ramos; Yu Chen 071; Adam W. Bleakney; Deana McDonagh; William R. Norris 001; Jeannette R. Elliott; Patricia B. Malik; Elizabeth T. Hsiao-Wecksler (HRI, 2024)

Enabling Shared-Control for A Riding Ballbot System. - Yu Chen 071; Mahshid Mansouri; Chenzhang Xiao; Ze Wang; Elizabeth T. Hsiao-Wecksler; William R. Norris 001 (CoRR, 2024)

Exploiting Physical Human-Robot Interaction to Provide a Unique Rolling Experience with a Riding Ballbot. - Chenzhang Xiao; Seung Yun Song; Yu Chen 071; Mahshid Mansouri; Joao Ramos; Adam W. Bleakney; William R. Norris 001; Elizabeth T. Hsiao-Wecksler (CoRR, 2024)

An Interactive Hands-Free Controller for a Riding Ballbot to Enable Simple Shared Control Tasks. - Chenzhang Xiao; Seung Yun Song; Yu Chen 071; Mahshid Mansouri; Joao Ramos; William R. Norris 001; Elizabeth T. Hsiao-Wecksler (CoRR, 2024)