Sensing Local Geometry for Dexterous Manipulation. - William R. Provancher; Mark R. Cutkosky (ISER, 2002)

Feedback strategies for shared control in dexterous telemanipulation. - Weston B. Griffin; William R. Provancher; Mark R. Cutkosky (IROS, 2003)

Perception of Curvature and Object Motion Via Contact Location Feedback. - William R. Provancher; Katherine J. Kuchenbecker; Günter Niemeyer; Mark R. Cutkosky (ISRR, 2003)

Haptic Display of Contact Location. - Katherine J. Kuchenbecker; William R. Provancher; Günter Niemeyer; Mark R. Cutkosky (HAPTICS, 2004)

Scaling hard vertical surfaces with compliant microspine arrays. - Alan T. Asbeck; Sangbae Kim; William R. Provancher; Michele Lanzetta (Robotics: Science and Systems, 2005)

Contact Location Display for Haptic Perception of Curvature and Object Motion. - William R. Provancher; Mark R. Cutkosky; Katherine J. Kuchenbecker; Günter Niemeyer (Int. J. Robotics Res., 2005)

Feedback Strategies for Telemanipulation with Shared Control of Object Handling Forces. - Weston B. Griffin; William R. Provancher; Mark R. Cutkosky (Presence Teleoperators Virtual Environ., 2005)

Scaling Hard Vertical Surfaces with Compliant Microspine Arrays. - Alan T. Asbeck; Sangbae Kim; Mark R. Cutkosky; William R. Provancher; Michele Lanzetta (Int. J. Robotics Res., 2006)

Tactile Perception of Rotational Sliding. - William R. Provancher; Brandt D. Erickson; Federico Barbagli; Hong Z. Tan (WHC, 2007)

Effects of Longitudinal Skin Stretch on the Perception of Friction. - Nicholas D. Sylvester; William R. Provancher (WHC, 2007)

Toward Developing a Velocity Controlled Tactile Impact Display. - Brian T. Gleeson; William R. Provancher (HAPTICS, 2008)

ROCR: Dynamic vertical wall climbing with a pendular two-link mass-shifting robot. - Samuel Jensen-Segal; Steven Virost; William R. Provancher (ICRA, 2008)

Force and Tactile Sensors. - Mark R. Cutkosky; Robert D. Howe; William R. Provancher (Springer Handbook of Robotics, 2008)

Communication of direction through lateral skin stretch at the fingertip. - Brian T. Gleeson; Scott K. Horschel; William R. Provancher (WHC, 2009)

A fingertip shear tactile display for communicating direction cues. - Scott K. Horschel; Brian T. Gleeson; William R. Provancher (WHC, 2009)

Fingerpad Skin Stretch Increases the Perception of Virtual Friction. - William R. Provancher; Nicholas D. Sylvester (IEEE Trans. Haptics, 2009)

Force and contact location shading thresholds for smoothly rendering polygonal models. - Andrew J. Doxon; David E. Johnson 001; Hong Z. Tan; William R. Provancher (HAPTICS, 2010)

Active Handrest for precision manipulation and ergonomic support. - Mark A. Fehlberg; Brian T. Gleeson; Levi C. Leishman; William R. Provancher (HAPTICS, 2010)

Analysis of Active Handrest Control Methods. - Mark A. Fehlberg; Brian T. Gleeson; William R. Provancher (EuroHaptics (1), 2010)

Embedding Tactile Feedback into Handheld Devices: An Aperture-Based Restraint for the Finger or Thumb. - Brian T. Gleeson; William R. Provancher (EuroHaptics (2), 2010)

Revisiting the Effect of Velocity on Human Force Control. - Manikantan Nambi; William R. Provancher; Jake J. Abbott (EuroHaptics (1), 2010)

Perception of Direction for Applied Tangential Skin Displacement: Effects of Speed, Displacement, and Repetition. - Brian T. Gleeson; Scott K. Horschel; William R. Provancher (IEEE Trans. Haptics, 2010)

Design of a Fingertip-Mounted Tactile Display with Tangential Skin Displacement Feedback. - Brian T. Gleeson; Scott K. Horschel; William R. Provancher (IEEE Trans. Haptics, 2010)

Edge sharpness perception with force and contact location information. - Jaeyoung Park 001; Andrew J. Doxon; William R. Provancher; David E. Johnson 001; Hong Z. Tan (World Haptics, 2011)

Design of a SMA actuated 2-DoF tactile device for displaying tangential skin displacement. - Massimiliano Solazzi; William R. Provancher; Antonio Frisoli; Massimo Bergamasco (World Haptics, 2011)

On the Ability of Humans to Apply Controlled Forces to Admittance-Type Devices. - Manikantan Nambi; William R. Provancher; Jake J. Abbott (Adv. Robotics, 2011)

Force and Contact Location Shading Methods for Use Within Two- and Three-Dimensional Polygonal Environments. - Andrew J. Doxon; David E. Johnson 001; Hong Z. Tan; William R. Provancher (Presence Teleoperators Virtual Environ., 2011)

Exploration of Tactile Contact in a Haptic Display: Effects of Contact Velocity and Transient Vibrations. - Brian T. Gleeson; William R. Provancher (IEEE Trans. Haptics, 2011)

Improved Tactile Shear Feedback: Tactor Design and an Aperture-Based Restraint. - Brian T. Gleeson; Charles A. Stewart; William R. Provancher (IEEE Trans. Haptics, 2011)

Lock picking simulation using visual and bimanual haptic display. - Karl Arthur; Andrew J. Doxon; Courtney Parsons; William R. Provancher (HAPTICS, 2012)

Design of a forearm-mounted directional skin stretch device. - Nathaniel A. Caswell; Ryan T. Yardley; Markus N. Montandon; William R. Provancher (HAPTICS, 2012)

Evaluation of Active Handrest performance using labyrinths with adaptive admittance control and virtual fixtures. - Mark A. Fehlberg; Raymond J. King; Andrew J. Doxon; William R. Provancher (HAPTICS, 2012)

Mental rotation of directional tactile stimuli. - Brian T. Gleeson; William R. Provancher (HAPTICS, 2012)

Bi-manual skin stretch feedback embedded within a game controller. - Ashley L. Guinan; Rebecca L. Koslover; Nathaniel A. Caswell; William R. Provancher (HAPTICS, 2012)

Skin stretch feedback for gaming environments. - Ashley L. Guinan; Markus N. Montandon; Nathaniel A. Caswell; William R. Provancher (HAVE, 2012)

Active Handrest: A large workspace tool for precision manipulation. - Mark A. Fehlberg; Brian T. Gleeson; William R. Provancher (Int. J. Robotics Res., 2012)

Mobile Navigation Using Haptic, Audio, and Visual Direction Cues with a Handheld Test Platform. - Rebecca L. Koslover; Brian T. Gleeson; Joshua T. de Bever; William R. Provancher (IEEE Trans. Haptics, 2012)

Haptic Edge Sharpness Perception with a Contact Location Display. - Jaeyoung Park 001; Andrew J. Doxon; William R. Provancher; David E. Johnson 001; Hong Z. Tan (IEEE Trans. Haptics, 2012)

Back-to-back skin stretch feedback for communicating five degree-of-freedom direction cues. - Ashley L. Guinan; Nicholas C. Hornbaker; Markus N. Montandon; Andrew J. Doxon; William R. Provancher (World Haptics, 2013)

Haptic matching of directional force and skin stretch feedback cues. - Landon T. Gwilliam; Andrew J. Doxon; William R. Provancher (World Haptics, 2013)

Haptic contour following and feature detection with a contact location display. - Jaeyoung Park 001; William R. Provancher; David E. Johnson 001; Hong Z. Tan (World Haptics, 2013)

Sensory augmentation of stiffness using fingerpad skin stretch. - Zhan Fan Quek; Samuel B. Schorr; Ilana Nisky; Allison M. Okamura; William R. Provancher (World Haptics, 2013)

2-DOF contact location display for manipulating virtual objects. - Seiedmuhammad Yazdian; Andrew J. Doxon; David E. Johnson 001; Hong Z. Tan; William R. Provancher (World Haptics, 2013)

A video game controller with skin stretch haptic feedback. - Ashley L. Guinan; Nathaniel A. Caswell; Frank A. Drews; William R. Provancher (ICCE, 2013)

A smart phone peripheral with bi-manual skin stretch haptic feedback and user input. - Markus N. Montandon; William R. Provancher (ICCE, 2013)

Sensory substitution via cutaneous skin stretch feedback. - Samuel B. Schorr; Zhan Fan Quek; Robert Y. Romano; Ilana Nisky; William R. Provancher; Allison M. Okamura (ICRA, 2013)

Human Detection and Discrimination of Tactile Repeatability, Mechanical Backlash, and Temporal Delay in a Combined Tactile-Kinesthetic Haptic Display System. - Andrew J. Doxon; David E. Johnson 001; Hong Z. Tan; William R. Provancher (IEEE Trans. Haptics, 2013)

Mental Rotation of Tactile Stimuli: Using Directional Haptic Cues in Mobile Devices. - Brian T. Gleeson; William R. Provancher (IEEE Trans. Haptics, 2013)

Discrimination thresholds for communicating rotational inertia and torque using differential skin stretch feedback in virtual environments. - Ashley L. Guinan; Markus N. Montandon; Andrew J. Doxon; William R. Provancher (HAPTICS, 2014)

kinesthetic physical interaction with a multi-handed tactile display. - Ashley L. Guinan; Markus N. Montandon; Andrew J. Doxon; William R. Provancher (HAPTICS, 2014)

Sensory substitution using 3-Degree-of-Freedom tangential and normal skin deformation feedback. - Zhan Fan Quek; Samuel B. Schorr; Ilana Nisky; William R. Provancher; Allison M. Okamura (HAPTICS, 2014)

Compliance display using a tilting-plate tactile feedback device. - Seiedmuhammad Yazdian; Andrew J. Doxon; David E. Johnson 001; Hong Z. Tan; William R. Provancher (HAPTICS, 2014)

An ungrounded tactile feedback device to portray force and torque-like interactions in virtual environments. - Ashley L. Guinan; Markus N. Montandon; Andrew J. Doxon; William R. Provancher (VR, 2014)

Improved Active Handrest Performance Through Use of Virtual Fixtures. - Mark A. Fehlberg; Ilana Nisky; Andrew J. Doxon; William R. Provancher (IEEE Trans. Hum. Mach. Syst., 2014)

Augmentation Of Stiffness Perception With a 1-Degree-of-Freedom Skin Stretch Device. - Zhan Fan Quek; Samuel B. Schorr; Ilana Nisky; Allison M. Okamura; William R. Provancher (IEEE Trans. Hum. Mach. Syst., 2014)

Planar Hand Motion Guidance UsingFingertip Skin-Stretch Feedback. - Sumner L. Norman; Andrew J. Doxon; Brian T. Gleeson; William R. Provancher (IEEE Trans. Haptics, 2014)

Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures. - Samuel B. Schorr; Zhan Fan Quek; William R. Provancher; Allison M. Okamura (HRI, 2015)

Tactile Skin Deformation Feedback for Conveying Environment Forces in Teleoperation. - Samuel B. Schorr; Zhan Fan Quek; William R. Provancher; Allison M. Okamura (HRI (Extended Abstracts), 2015)

Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback. - Zhan Fan Quek; Samuel B. Schorr; Ilana Nisky; William R. Provancher; Allison M. Okamura (ICRA, 2015)

Tactor-Induced Skin Stretch as a Sensory Substitution Method in Teleoperated Palpation. - Samuel B. Schorr; Zhan Fan Quek; Ilana Nisky; William R. Provancher; Allison M. Okamura (IEEE Trans. Hum. Mach. Syst., 2015)

Enhancements to the planar active handrest. - Mark A. Fehlberg; Hamidreza N. Sani; William R. Provancher (J. Hum. Robot Interact., 2015)

Sensory Substitution and Augmentation Using 3-Degree-of-Freedom Skin Deformation Feedback. - Zhan Fan Quek; Samuel B. Schorr; Ilana Nisky; William R. Provancher; Allison M. Okamura (IEEE Trans. Haptics, 2015)

Perception of Skin Stretch Applied to Palm: Effects of Speed and Displacement. - Ahmet Guzererler; William R. Provancher; Cagatay Basdogan (EuroHaptics (1), 2016)

Human Velocity Control of Admittance-Type Robotic Devices With Scaled Visual Feedback of Device Motion. - Troy K. Arbuckle; Manikantan Nambi; Jonathan E. Butner; William R. Provancher; Jake J. Abbott (IEEE Trans. Hum. Mach. Syst., 2016)

Force and Tactile Sensing. - Mark R. Cutkosky; William R. Provancher (Springer Handbook of Robotics, 2nd Ed., 2016)

Haptic Perception of Edge Sharpness in Real and Virtual Environments. - Jaeyoung Park 001; William R. Provancher; Hong Z. Tan (IEEE Trans. Haptics, 2017)

Evaluation of Skin Deformation Tactile Feedback for Teleoperated Surgical Tasks. - Zhan Fan Quek; William R. Provancher; Allison M. Okamura (IEEE Trans. Haptics, 2019)