Active Handrest for precision manipulation and ergonomic support. - Mark A. Fehlberg; Brian T. Gleeson; Levi C. Leishman; William R. Provancher (HAPTICS, 2010)

Analysis of Active Handrest Control Methods. - Mark A. Fehlberg; Brian T. Gleeson; William R. Provancher (EuroHaptics (1), 2010)

Evaluation of Active Handrest performance using labyrinths with adaptive admittance control and virtual fixtures. - Mark A. Fehlberg; Raymond J. King; Andrew J. Doxon; William R. Provancher (HAPTICS, 2012)

Active Handrest: A large workspace tool for precision manipulation. - Mark A. Fehlberg; Brian T. Gleeson; William R. Provancher (Int. J. Robotics Res., 2012)

Improved Active Handrest Performance Through Use of Virtual Fixtures. - Mark A. Fehlberg; Ilana Nisky; Andrew J. Doxon; William R. Provancher (IEEE Trans. Hum. Mach. Syst., 2014)

Enhancements to the planar active handrest. - Mark A. Fehlberg; Hamidreza N. Sani; William R. Provancher (J. Hum. Robot Interact., 2015)