Soft Retraction Device and Internal Camera Mount for Everting Vine Robots. - William E. Heap; Nicholas D. Naclerio; Margaret M. Coad; Sang-Goo Jeong; Elliot W. Hawkes (IROS, 2021)

Miniature, Lightweight, High-Force, Capstan Winch for Mobile Robots. - William E. Heap; Chris T. Keeley; Elvy B. Yao; Nicholas D. Naclerio; Elliot W. Hawkes (IEEE Robotics Autom. Lett., 2022)

Self-Wearing Adaptive Garments via Soft Robotic Unfurling. - Nam Gyun Kim; William E. Heap; Yimeng Qin; Elvy B. Yao; Jee-Hwan Ryu; Allison M. Okamura (CoRR, 2025)