Transmission-based electrical actuators: a concept for improving robot manipulator performance. - William R. Hamel; T. C. Widner (ICRA, 1997)

A model-based concept for telerobotic control of decontamination and dismantlement tasks. - W. R. Kamel; S. K. Marland; T. C. Widner (ICRA, 1997)

Fundamental Control Concepts for Implementation of Transmission-Based Actuators in Robotics and Automation. - T. C. Widner; William R. Hamel (ICRA, 1998)

Control concepts for transmission-based actuators in robotics. - T. C. Widner; William R. Hamel (IROS, 1998)