End Point Control of Compliant Robots. - J. I. Arocena; Ron W. Daniel; Paul Elosegui (ISER, 1991)

Design and Control of a Novel 3-DOF Flexible Robot, Part 1: Design and Evaluation. - J. I. Arocena; Ron W. Daniel (Int. J. Robotics Res., 1998)

Design and Control of a Novel 3-DOF Flexible Robot, Part 2: Modeling and Control. - J. I. Arocena; Ron W. Daniel (Int. J. Robotics Res., 1998)