A high fidelity ungrounded torque feedback device: The iTorqU 2.0. - Kyle N. Winfree; Jamie Gewirtz; Thomas Mather; Jonathan Fiene; Katherine J. Kuchenbecker (WHC, 2009)

VerroTouch: High-Frequency Acceleration Feedback for Telerobotic Surgery. - Katherine J. Kuchenbecker; Jamie Gewirtz; William McMahan; Dorsey Standish; Paul D. Martin 001; Jonathan Bohren; Pierre J. Mendoza; David I. Lee (EuroHaptics (1), 2010)

Control of a high fidelity ungrounded torque feedback device: The iTorqU 2.1. - Kyle N. Winfree; Joseph M. Romano; Jamie Gewirtz; Katherine J. Kuchenbecker (ICRA, 2010)

Tool Contact Acceleration Feedback for Telerobotic Surgery. - William McMahan; Jamie Gewirtz; Dorsey Standish; Paul D. Martin 001; Jacquelyn A. Kunkel; Magalie Lilavois; Alexei Wedmid; David I. Lee; Katherine J. Kuchenbecker (IEEE Trans. Haptics, 2011)