3-DoF Wearable, Pneumatic Haptic Device to Deliver Normal, Shear, Vibration, and Torsion Feedback. - Kyle T. Yoshida; Cara M. Nunez; Sophia R. Williams; Allison M. Okamura; Ming Luo 004 (WHC, 2019)

Design and Analysis of Pneumatic 2-DoF Soft Haptic Devices for Shear Display. - Smita Kanjanapas; Cara M. Nunez; Sophia R. Williams; Allison M. Okamura; Ming Luo 004 (IEEE Robotics Autom. Lett., 2019)

Understanding Continuous and Pleasant Linear Sensations on the Forearm From a Sequential Discrete Lateral Skin-Slip Haptic Device. - Cara M. Nunez; Sophia R. Williams; Allison M. Okamura; Heather Culbertson (IEEE Trans. Haptics, 2019)

Embedded Laser-Cut Constraints for Elastomeric Soft Actuators. - Crystal E. Winston; Kyle T. Yoshida; Sophia R. Williams; Allison M. Okamura (WHC, 2021)

A 4-DoF Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback. - Sophia R. Williams; Jacob M. Suchoski; Zonghe Chua; Allison M. Okamura (CoRR, 2021)

Body-Mounted Vibrotactile Stimuli: Simultaneous Display of Taps on the Fingertips and Forearm. - Sophia R. Williams; Allison M. Okamura (IEEE Trans. Haptics, 2021)

A 4-Degree-of-Freedom Parallel Origami Haptic Device for Normal, Shear, and Torsion Feedback. - Sophia R. Williams; Jacob M. Suchoski; Zonghe Chua; Allison M. Okamura (IEEE Robotics Autom. Lett., 2022)

Data-Driven Sparse Skin Stimulation Can Convey Social Touch Information to Humans. - Mike Salvato; Sophia R. Williams; Cara M. Nunez; Xin Zhu; Ali Israr; Frances Lau; Keith Klumb; Freddy Abnousi; Allison M. Okamura; Heather Culbertson (IEEE Trans. Haptics, 2022)

Naturalistic Paired Participant Social Touch Dataset with Pressure Sensing. - Millie Salvato; Sophia R. Williams; Cara M. Nunez; Xin Zhu; Ali Israr; Frances Lau; Keith Klumb; Freddy Abnousi; Allison M. Okamura; Heather Culbertson (IEEE DataPort, 2022)