A reconfigurable holonomic omnidirectional mobile bed with unified seating (RHOMBUS) for bedridden patients. - Stephen A. Mascaro; Joseph Spano; Haruhiko H. Asada (ICRA, 1997)

A semi-active, flexible, beaded support surface for tangential transport and tissue therapy of bedridden patients. - Joseph Spano; Haruhiko Asada (ICRA, 1999)

Surface wave actuators for tangential transport of humans. - Joseph Spano; Haruhiko H. Asada (IROS, 1999)

Surface Waves for Active Transport of Bedridden Patients. - Joseph Spano; Haruhiko Asada (ICRA, 2000)

Kinematic analysis and design of surface wave distributed actuators with application to a powered bed for bedridden patients. - Joseph Spano; H. Harry Asada (IEEE Trans. Robotics Autom., 2000)

Design of surface wave active beds based on human tissue physiology. - Joseph Spano; H. Harry Asada (Adv. Robotics, 2001)