Minimum ratio-locked profile times for robot trajectories. - William D. Fisher; M. Shahid Mujtaba (ICRA, 1988)

The Hamilton wrist: a four-revolute-joint spherical wrist without singularities. - Gregory L. Long; Richard P. Paul; William D. Fisher (ICRA, 1989)

Sufficient stability condition for hybrid position/force control. - William D. Fisher; M. Shahid Mujtaba (ICRA, 1992)