Design of a Uniactuated Bimanual Haptic Interfac. - Nicholas L. Bernstein; Dale A. Lawrence; Lucy Y. Pao (HAPTICS, 2003)

Friction Modeling and Compensation for Haptic Interfaces. - Nicholas L. Bernstein; Dale A. Lawrence; Lucy Y. Pao (WHC, 2005)

Sensor Modeling in Parallel Force Feedback Haptic Interfaces. - Nicholas L. Bernstein; Dale A. Lawrence; Lucy Y. Pao (HAPTICS, 2006)

Dynamics Modeling for Parallel Haptic Interfaces with Force Sensing and Control. - Nicholas L. Bernstein; Dale A. Lawrence; Lucy Y. Pao (IEEE Trans. Haptics, 2013)