Design of a four degree-of-freedom force-reflecting manipulandum with a specified force/torque workspace. - Paul A. Millman; James Edward Colgate (ICRA, 1991)

Design of a High Performance Haptic Interface to Virtual Environments. - Paul A. Millman; Michael C. Stanley; J. Edward Colgate (VRAIS, 1993)

Automatic Identification of Environment Haptic Properties. - Pierre E. Dupont; Timothy M. Schulteis; Paul A. Millman; Robert D. Howe (Presence Teleoperators Virtual Environ., 1999)