Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots. - William E. Heap; Chris T. Keeley; Elvy B. Yao; Nicholas D. Naclerio; Elliot W. Hawkes (IEEE Robotics Autom. Lett., 2022)

Self-Wearing Adaptive Garments via Soft Robotic Unfurling. - Nam Gyun Kim; William E. Heap; Yimeng Qin; Elvy B. Yao; Jee-Hwan Ryu; Allison M. Okamura (CoRR, 2025)