Force-Feedback Surgical Teleoperator: Controller Design and Palpation Experiments. - Mohsen Mahvash; James C. Gwilliam; Rahul Agarwal; Balázs Vágvölgyi; Li-Ming Su; David D. Yuh; Allison M. Okamura (HAPTICS, 2008)

Effects of haptic and graphical force feedback on teleoperated palpation. - James C. Gwilliam; Mohsen Mahvash; Balázs Vágvölgyi; Alexander Vacharat; David D. Yuh; Allison M. Okamura (ICRA, 2009)

Human vs. robotic tactile sensing: Detecting lumps in soft tissue. - James C. Gwilliam; Zachary A. Pezzementi; Erica Jantho; Allison M. Okamura; Steven Hsiao (HAPTICS, 2010)

Characterization of an air jet haptic lump display. - Matteo Bianchi 002; James C. Gwilliam; Alperen Degirmenci; Allison M. Okamura (EMBC, 2011)

Design and control of an air-jet lump display. - James C. Gwilliam; Alperen Degirmenci; Matteo Bianchi 002; Allison M. Okamura (HAPTICS, 2012)

Haptic jamming: A deformable geometry, variable stiffness tactile display using pneumatics and particle jamming. - Andrew A. Stanley; James C. Gwilliam; Allison M. Okamura (World Haptics, 2013)

Characterization and Psychophysical Studies of an Air-Jet Lump Display. - James C. Gwilliam; Matteo Bianchi 002; Lester K. Su; Allison M. Okamura (IEEE Trans. Haptics, 2013)