Performance measures of teleoperation using an exoskeleton device. - Daniel W. Repperger; Steven J. Remis; Gary Merrill (ICRA, 1990)

Design of a singularity-free articulated arm subassembly. - Steven J. Remis; Michael M. Stanisic (IEEE Trans. Robotics Autom., 1993)

A Geometric Approach to the Design of a Singularity-Free Articulated Arm-Subassembly. - Steven J. Remis; Michael M. Stanisic (ICRA, 1994)