A 5-axis mini direct drive robot for time delayed teleoperation. - Blake Hannaford; Pierre-Henry Marbot; Manuel Moreyra; Steven C. Venema (IROS, 1994)

A 5-Axis Mini Direct Drive Robot for Teleoperation and Biotechnology. - Manuel Moreyra; Pierre-Henry Marbot; Steven C. Venema; Blake Hannaford (IROS (Selected Papers), 1994)

Scaling of Direct Drive Robot Arms. - Blake Hannaford; Pierre-Henry Marbot; Pietro Buttolo; Manuel Moreyra; Steven C. Venema (Int. J. Robotics Res., 1996)

A Practical Measure of Dynamic Response of Haptic Devices. - Manuel Moreyra; Blake Hannaford (ICRA, 1998)