Surgeon-Centered Analysis of Robot-Assisted Needle Driving Under Different Force Feedback Conditions. - Lidor Bahar; Yarden Sharon; Ilana Nisky (Frontiers Neurorobotics, 2019)

Combining Time-Dependent Force Perturbations in Robot-Assisted Surgery Training. - Yarden Sharon; Daniel Naftalovich; Lidor Bahar; Yael Refaely; Ilana Nisky (CoRR, 2021)

Augmenting Robot-Assisted Pattern-Cutting With Periodic Perturbations: Can We Make Dry Lab Training More Realistic? - Yarden Sharon; Tifferet Nevo; Daniel Naftalovich; Lidor Bahar; Yael Refaely; Ilana Nisky (IEEE Trans. Biomed. Eng., 2025)