Haptic Manipulation of Virtual Mechanisms from Mechanical CAD Designs. - Ali Nahvi; Donald D. Nelson; John M. Hollerbach; David E. Johnson 001 (ICRA, 1998)

Painting Textures with a Haptic Interface. - David E. Johnson 001; Thomas V. Thompson II; Matthew Kaplan 001; Donald D. Nelson; Elaine Cohen (VR, 1999)

Interactive Mechanical Design Variation for Haptics and CAD. - Donald D. Nelson; Elaine Cohen (Comput. Graph. Forum, 1999)

Optimization-Based Virtual Surface Contact Manipulation at Force Control Rates. - Donald D. Nelson; Elaine Cohen (VR, 2000)

Differential Surface Kinematics for Time-Varying, Surface-Surface Floating Contact Interactions. - Donald D. Nelson (2003)

Haptic rendering of sculptured models. - Elaine Cohen; Thomas V. Thompson II; Donald D. Nelson; David E. Johnson 001 (SIGGRAPH Courses, 2005)

Haptic rendering of surface-to-surface sculpted model interaction. - Donald D. Nelson; David E. Johnson 001; Elaine Cohen (SIGGRAPH Courses, 2005)