High-Fidelity Contact Rendering: Feel realistic forces from virtual objects! - Arash Mohtat; Colin R. Gallacher; József Kövecses (HAPTICS, 2014)

Parasitic effects of device coupling on haptic performance. - Colin R. Gallacher; John Willes; József Kövecses (World Haptics, 2015)

Characterizing device dynamics for haptic manipulation and navigation. - Colin R. Gallacher; James Harrison; József Kövecses (ICRA, 2015)

Toward open-source portable haptic displays with visual-force-tactile feedback colocation. - Colin R. Gallacher; Arash Mohtat; Steve Ding; József Kövecses (HAPTICS, 2016)

The Haply Development Platform: A Modular and Open-Sourced Entry Level Haptic Toolset. - Steven H. H. Ding; Colin R. Gallacher (CHI Extended Abstracts, 2018)

How Do Novice Hapticians Design? A Case Study in Creating Haptic Learning Environments. - Hasti Seifi; Matthew Chun; Colin R. Gallacher; Oliver S. Schneider; Karon E. MacLean (IEEE Trans. Haptics, 2020)

Velocity estimation for affordable force feedback devices by time stamping and adaptive windowing. - Benjamin Delbos; Arash Mohtat; Colin R. Gallacher; Vincent Lévesque (WHC, 2021)

Haply 2diy: An Accessible Haptic Plateform Suitable for Remote Learning. - Antoine Weill-Duflos; Nicholas Ong; Felix Desourdy; Benjamin Delbos; Steve Ding; Colin R. Gallacher (ICMI, 2021)

Local Force Isotropy: A New Metric for Measuring Performance of Kinaesthetic Haptic Devices. - Maciej Lacki; Carlos Rossa; Colin R. Gallacher (ICSM, 2024)

A Novel Torque Sensing Approach to Eliminate Stiction in Haptic Devices with Hybrid Motor/Brake Actuation. - Milan Djordjevic; Jacob Horne; Samuel Lovett; Colin R. Gallacher; Antoine Weill-Duflos; Carlos Rossa (SAS, 2025)

Shaft Compliance as a Soft Sensor to Eliminate Stiction in Hybrid Haptic Devices. - Jacob Horne; Milan Djordjevic; Samuel Lovett; Antoine Weill-Duflos; Colin R. Gallacher; Carlos Rossa (SAS, 2025)