Design and Control of Lightweight Supernumerary Robotic Limbs for Sitting/Standing Assistance. - Laura Treers; Roger Lo; Michael Cheung; Aymeric Guy; Jacob W. Guggenheim; Federico Parietti; H. Harry Asada (ISER, 2016)

Leveraging the Human Operator in the Design and Control of Supernumerary Robotic Limbs. - Jacob W. Guggenheim; Rachel M. Hoffman; Hanjun Song; H. Harry Asada (IEEE Robotics Autom. Lett., 2020)

Laying the Groundwork for Intra-Robotic-Natural Limb Coordination: Is Fully Manual Control Viable? - Jacob W. Guggenheim; Federico Parietti; Tamar Flash; H. Harry Asada (ACM Trans. Hum. Robot Interact., 2020)

Inherent Haptic Feedback From Supernumerary Robotic Limbs. - Jacob W. Guggenheim; H. Harry Asada (IEEE Trans. Haptics, 2021)