Multi-rate Control Architectures for Dextrous Haptic Rendering in Cooperative Virtual Environments. - Mahyar Fotoohi; Shahin Sirouspour; David W. Capson (CDC, 2006)

A Multi-rate Control Approach to Haptic Interaction in Multi-user Virtual Environments. - Mahyar Fotoohi; Shahin Sirouspour; David W. Capson (ICRA, 2007)

Stability and Performance Analysis of Centralized and Distributed Multi-rate Control Architectures for Multi-user Haptic Interaction. - Mahyar Fotoohi; Shahin Sirouspour; David W. Capson (Int. J. Robotics Res., 2007)

Hardware-based parallel computing for real-time haptic rendering of deformable objects. - Ramin Mafi; Shahin Sirouspour; Brian Moody; Behzad Mahdavikhah; Kaveh Elizeh; Adam B. Kinsman; Nicola Nicolici; Mahyar Fotoohi; D. Madill (IROS, 2008)