Kinematics of common industrial robots. - John E. Lloyd; Vincent Hayward (Robotics Auton. Syst., 1988)

Real-time trajectory generation using blend functions. - John E. Lloyd; Vincent Hayward (ICRA, 1991)

Trajectory Generation for Sensor-Driven and Time-Varying Tasks. - John E. Lloyd; Vincent Hayward (Int. J. Robotics Res., 1993)

Real-time trajectory generation in multi-RCCL. - John E. Lloyd; Vincent Hayward (J. Field Robotics, 1993)

Using Puiseux series to control non-redundant robots at singularities. - John E. Lloyd (ICRA, 1996)

A discrete algorithm for fixed-path trajectory generation at kinematic singularities. - John E. Lloyd; Vincent Hayward (ICRA, 1996)

Model-based telerobotics with vision. - John E. Lloyd; Jeffrey S. Beis; Dinesh K. Pai; David G. Lowe (ICRA, 1997)

Extracting Robotic Part-mating Programs from Operator Interaction with a Simulated Environment. - John E. Lloyd; Dinesh K. Pai (ISER, 1997)

Removing the Singularities of Serial Manipulators by Transforming the Workspace. - John E. Lloyd (ICRA, 1998)

Generating Robust Trajectories in the Presence of Ordinary and Linear-Self-Motion Singularities. - John E. Lloyd; Vincent Hayward (ICRA, 1998)

Desingularization of nonredundant serial manipulator trajectories using Puiseux series. - John E. Lloyd (IEEE Trans. Robotics Autom., 1998)

ACME, A Telerobotic Active Measurement Facility. - Dinesh K. Pai; Jochen Lang 001; John E. Lloyd; Robert J. Woodham (ISER, 1999)

Programming contact tasks using a reality-based virtual environment integrated with vision. - John E. Lloyd; Jeffrey S. Beis; Dinesh K. Pai; David G. Lowe (IEEE Trans. Robotics Autom., 1999)

Reality-Based Modeling with ACME: A Progress Report. - Dinesh K. Pai; Jochen Lang 001; John E. Lloyd; Joshua L. Richmond (ISER, 2000)

Robotic Mapping of Friction and Roughness for Reality-based Modeling. - John E. Lloyd; Dinesh K. Pai (ICRA, 2001)

Singularity-Robust Trajectory Generation. - John E. Lloyd; Vincent Hayward (Int. J. Robotics Res., 2001)

Interactive Exploration of Remote Objects Using a Haptic-VR Interface. - John E. Lloyd; Dinesh K. Pai (ISER, 2002)

Artisynth: an extensible, cross-platform 3d articulatory speech synthesizer. - Sidney S. Fels; Florian Vogt; Kees van den Doel; John E. Lloyd; Oliver Guenther (AVSP, 2005)

Fast Implementation of Lemke's Algorithm for Rigid Body Contact Simulation. - John E. Lloyd (ICRA, 2005)

Scanning physical interaction behavior of 3D objects. - Dinesh K. Pai; Kees van den Doel; Doug L. James; Jochen Lang 001; John E. Lloyd; Joshua L. Richmond; Som H. Yau (SIGGRAPH Courses, 2005)

An Integrated Dynamic Jaw and Laryngeal Model Constructed from CT Data. - Ian Stavness; Alan G. Hannam; John E. Lloyd; Sidney S. Fels (ISBMS, 2006)

Efficient 3D Finite Element Modeling of a Muscle-Activated Tongue. - Florian Vogt; John E. Lloyd; Stéphanie Buchaillard; Pascal Perrier; Matthieu Chabanas; Yohan Payan; Sidney S. Fels (ISBMS, 2006)

TimbreFields: 3D Interactive Sound Models for Real-Time Audio. - Richard Corbett; Kees van den Doel; John E. Lloyd; Wolfgang Heidrich (Presence Teleoperators Virtual Environ., 2007)

Dynamic hard-soft tissue models for orofacial biomechanics. - Ian Stavness; John E. Lloyd; Sidney S. Fels; Yohan Payan (SIGGRAPH Talks, 2010)

Coupled Biomechanical Modeling of the Face, Jaw, Skull, Tongue, and Hyoid Bone. - Ian Stavness; Mohammad Ali Nazari; Cormac Flynn; Pascal Perrier; Yohan Payan; John E. Lloyd; Sidney S. Fels (3D Multiscale Physiological Human, 2014)

Unified skinning of rigid and deformable models for anatomical simulations. - Ian Stavness; C. Antonio Sánchez; John E. Lloyd; Andrew Kenneth Ho; Johnty Wang; Sidney S. Fels; Danny Huang (SIGGRAPH ASIA Technical Briefs, 2014)

Foot ulcer prevention using biomechanical modelling. - Vincent Luboz; Antoine Perrier; Ian Stavness; John E. Lloyd; Marek Bucki; Francis Cannard; Bruno Diot; Nicolas Vuillerme; Yohan Payan (Comput. methods Biomech. Biomed. Eng. Imaging Vis., 2014)

Embedding digitized fibre fields in finite element models of muscles. - C. Antonio Sánchez; John E. Lloyd; Sidney S. Fels; Purang Abolmaesumi (Comput. methods Biomech. Biomed. Eng. Imaging Vis., 2014)

Hybrid simulation of brain-skull growth. - Jing Jin; Sahar Shahbazi; John E. Lloyd; Sidney S. Fels; Sandrine de Ribaupierre; Roy Eagleson (Simul., 2014)

Multi-modal Framework for Image-guided Trans-oral Surgery with Intraoperative Imaging and Deformation Modeling. - Xiaotian Wu; C. Antonio Sánchez; Peter W. Kahng; Christiaan A. Rees; Aravind S. Ponukumati; Eric A. Eisen; David A. Pastel; Heather Borgard; John E. Lloyd; Sidney S. Fels; Joseph A. Paydarfar; Ryan J. Halter (EMBC, 2019)

Estimating tongue deformation during laryngoscopy using hybrid FEM-multibody model and intraoperative tracking: a cadaver pilot study. - Xiaotian Wu; C. Antonio Sánchez; John E. Lloyd; Heather Borgard; Sidney S. Fels; Joseph A. Paydarfar; Ryan J. Halter (Image-Guided Procedures, 2020)

Muscle Path Wrapping on Arbitrary Surfaces. - John E. Lloyd; Francois Roewer-Despres; Ian Stavness (IEEE Trans. Biomed. Eng., 2021)

To what extent can mastication functionality be restored following mandibular reconstruction surgery? A computer modeling approach. - Hamidreza Aftabi; Benedikt Sagl; John E. Lloyd; Eitan Prisman; Antony Hodgson; Sidney S. Fels (Comput. Methods Programs Biomed., 2024)

Optimizing Bone Cuts Enhances Predicted Bone Union Propensity in Mandibular Body Reconstruction. - Hamidreza Aftabi; John E. Lloyd; Benedikt Sagl; Amanda Ding; Eitan Prisman; Antony Hodgson; Sidney Fels (ISBI, 2025)