The Effect of Quantization and Coulomb Friction on the Stability of Haptic Rendering. - Nicola Diolaiti; Günter Niemeyer; Federico Barbagli; John Kenneth Salisbury Jr.; Claudio Melchiorri (WHC, 2005)

A Criterion for the PassivitY of Haptic Devices. - Nicola Diolaiti; Günter Niemeyer; Federico Barbagli; John Kenneth Salisbury Jr. (ICRA, 2005)

Wave Haptics: Encoderless Virtual Stiffnesses. - Günter Niemeyer; Nicola Diolaiti; Neal A. Tanner (ISRR, 2005)

Contact impedance estimation for robotic systems. - Nicola Diolaiti; Claudio Melchiorri; Stefano Stramigioli (IEEE Trans. Robotics, 2005)

Wave Haptics: Providing Stiff Coupling to Virtual Environments. - Nicola Diolaiti; Günter Niemeyer (HAPTICS, 2006)

Wave Haptics: using Motor Dynamics for Stiff Coupling to Virtual Environments. - Nicola Diolaiti; Günter Niemeyer (ICRA, 2006)

Stability of Haptic Rendering: Discretization, Quantization, Time Delay, and Coulomb Effects. - Nicola Diolaiti; Günter Niemeyer; Federico Barbagli; J. Kenneth Salisbury (IEEE Trans. Robotics, 2006)

Wave Haptics: Building Stiff Controllers from the Natural Motor Dynamics. - Nicola Diolaiti; Günter Niemeyer; Neal A. Tanner (Int. J. Robotics Res., 2007)