SMARTWheels: development and testing of a system for measuring manual wheelchair propulsion dynamics. - Kimberly T. Asato; Rory A. Cooper; Rick N. Robertson; James F. Ster (IEEE Trans. Biomed. Eng., 1993)

Model reference adaptive control of heart rate during wheelchair ergometry. - Rory A. Cooper; Tianna L. Fletcher-Shaw; Rick N. Robertson (IEEE Trans. Control. Syst. Technol., 1998)

Force sensing control for electric powered wheelchairs. - Rory A. Cooper; Lana M. Widman; Daniel K. Jones; Rick N. Robertson; James F. Ster (IEEE Trans. Control. Syst. Technol., 2000)