Single magnet levitation by repulsion using a planar coil array. - Peter J. Berkelman; Michael Dzadovsky (CCA, 2008)

Extending the motion ranges of magnetic levitation for haptic interaction. - Peter J. Berkelman; Michael Dzadovsky (WHC, 2009)

Large motion range magnet levitation using a planar array of coils. - Peter J. Berkelman; Michael Dzadovsky (ICRA, 2009)

Actuation model for control of a long range Lorentz force magnetic levitation device. - Peter J. Berkelman; Michael Dzadovsky (IROS, 2010)