The Effect of coulomb friction and stiction on force control. - William T. Townsend; John Kenneth Salisbury Jr. (ICRA, 1987)

Preliminary design of a whole-arm manipulation system (WAMS). - Kenneth Salisbury; William T. Townsend; Brian S. Eberman; David M. Dipietro (ICRA, 1988)

Integration of tactile force and joint torque information in a whole-arm manipulator. - Steven J. Gordon; William T. Townsend (ICRA, 1989)

Mechanical bandwidth as a guideline to high-performance manipulator design. - William T. Townsend; J. Kenneth Salisbury (ICRA, 1989)

Force modeling for tooth preparation in a dental training system. - Guanyang Liu; Yuru Zhang; William T. Townsend (Virtual Real., 2008)

Stable haptic interaction using a damping model to implement a realistic tooth-cutting simulation for dental training. - Guanyang Liu; Yuru Zhang; Dangxiao Wang; William T. Townsend (Virtual Real., 2008)