Optimization of a Parallel Shoulder Mechanism to Achieve a High-Force, Low-Mass, Robotic-Arm Exoskeleton. - Julius Klein; Steven J. Spencer; James Allington; James E. Bobrow; David J. Reinkensmeyer (IEEE Trans. Robotics, 2010)

Supinator extender (SUE): A pneumatically actuated robot for forearm/wrist rehabilitation after stroke. - James Allington; Steven J. Spencer; Julius Klein; Meghan Buell; David J. Reinkensmeyer; James E. Bobrow (EMBC, 2011)