ProVAR Assistive Robot System Architecture. - H. F. Machiel Van der Loos; J. Joseph Wagner; Niels Smaby; Kyong-Sok Chang; O. Madrigal; Larry J. Leifer; Oussama Khatib (ICRA, 1999)

An Overview of Dexterous Manipulation. - Allison M. Okamura; Niels Smaby; Mark R. Cutkosky (ICRA, 2000)