Numerical stability of forward-dynamics algorithms. - Randy E. Ellis; O. M. Ismaeil; I. H. Carmichael (ICRA, 1992)

Grasping Using the Whole Finger. - O. M. Ismaeil; Randy E. Ellis (ICRA, 1994)

Design and evaluation of a high-performance haptic interface. - Randy E. Ellis; O. M. Ismaeil; M. G. Lipsett (Robotica, 1996)