Impedance Fields for Trajectory Enhancement in the Intelligent Assist Device. - Greg R. Luecke; Kok-Leong Tan; Naci Zafer (ICRA, 2000)

Constraint coupling of force and motion between real and virtual mechanisms. - Greg R. Luecke; Naci Zafer (Mobile Robots / Telemanipulator and Telepresence Technologies, 2000)

A geometric constraint-based approach to force and motion coupling between real and virtual mechanisms. - Naci Zafer; Greg R. Luecke (Adv. Robotics, 2007)

Haptic exploration of highly curved compliant surfaces. - Naci Zafer; Sezcan Yilmaz (J. Syst. Control. Eng., 2015)

Nonlinear viscoelastic contact and deformation of freeform virtual surfaces. - Naci Zafer; Sezcan Yilmaz (Adv. Robotics, 2016)