An interactive robot control environment for rehabilitation applications. - John L. Dallaway; Richard M. Mahoney; Robin D. Jackson; Raymond G. Gosine (Robotica, 1993)

The user interface for interactive robotic workstations. - John L. Dallaway; Robin D. Jackson; Richard M. Mahoney (IROS, 1994)

Robotic stroke therapy assistant. - Richard M. Mahoney; H. F. Machiel Van der Loos; Peter S. Lum; Chuck Burgar (Robotica, 2003)