Design Guidelines for Wave Variable Controllers in Time Delayed Telerobotics. - J. Scot Hart; Günter Niemeyer (WHC, 2007)

Model-reference based wave-variable force control. - J. Scot Hart; Günter Niemeyer (ICRA, 2009)

Multi-DOF model-based force control for telerobotic applications. - J. Scot Hart; Günter Niemeyer (IROS, 2010)

Absolutely stable model-based 2-port force controller for telerobotic applications. - J. Scot Hart; Günter Niemeyer (Int. J. Robotics Res., 2014)