Duty-cycle analysis of a human-controlled manipulator. - Robert S. Stoughton; H. L. Martin (J. Field Robotics, 1985)

Optimal sensor placement for forward kinematics evaluation of a 6-DOF parallel link manipulator. - Robert S. Stoughton; Tatsuo Arai (IROS, 1991)

Bilateral Control for Parallel-Link Manipulators. - Tatsuo Arai; Robert S. Stoughton; G. Jagannath Raju (Robotics, Mechatronics and Manufacturing Systems, 1993)

A modified Stewart platform manipulator with improved dexterity. - Robert S. Stoughton; Tatsuo Arai (IEEE Trans. Robotics Autom., 1993)

Workspace Analysis of the ParaDex Robot - A Novel, Closed-Chain, Kinematically-Redundant Manipulator. - Yuesong Wang 003; Wyatt S. Newman; Robert S. Stoughton (ICRA, 2000)