Stiffness Isn't Everything. - Gill A. Pratt; Matthew M. Williamson; Peter Dilworth; Jerry E. Pratt; Anne Wright (ISER, 1995)

Virtual actuator control. - Jerry E. Pratt; Ann Torres; Peter Dilworth; Gill A. Pratt (IROS, 1996)

Virtual model control of a bipedal walking robot. - Jerry E. Pratt; Peter Dilworth; Gill A. Pratt (ICRA, 1997)

Virtual Model Control: An Intuitive Approach for Bipedal Locomotion. - Jerry E. Pratt; Chee-Meng Chew; Ann Torres; Peter Dilworth; Gill A. Pratt (Int. J. Robotics Res., 2001)

An Ankle-foot Emulation System for the Study of Human Walking Biomechanics. - Samuel K. Au; Peter Dilworth; Hugh M. Herr (ICRA, 2006)