Joint servoing for robust manipulator force control. - Paul Elosegui; Ron W. Daniel; P. M. Sharkey (ICRA, 1990)

End Point Control of Compliant Robots. - J. I. Arocena; Ron W. Daniel; Paul Elosegui (ISER, 1991)

A study of force control transfer functions identified on a PUMA 560 arm. - Paul Elosegui (IROS, 1993)

Variations with configuration of the force control transfer functions of a PUMA 560 arm. - Paul Elosegui (IROS, 1993)