Performance Evaluation of a Cooperative Manipulation Microsurgical Assistant Robot Applied to Stapedotomy. - Peter J. Berkelman; Daniel L. Rothbaum; Jaydeep Roy; Samuel Lang; Louis L. Whitcomb; Gregory D. Hager; Patrick S. Jensen; Eugene de Juan; Russell H. Taylor; John K. Niparko (MICCAI, 2001)

Haptic feedback augmentation through position based adaptive force scaling: theory and experiment. - Jaydeep Roy; Daniel L. Rothbaum; Louis L. Whitcomb (IROS, 2002)