Designing Expandable-Structure Robots for Human-Robot Interaction. - Hooman Hedayati; Ryo Suzuki 001; Wyatt Rees; Daniel Leithinger; Daniel Szafir (Frontiers Robotics AI, 2022)

Assistance in Teleoperation of Redundant Robots through Predictive Joint Maneuvering. - Connor Brooks; Wyatt Rees; Daniel Szafir (ACM Trans. Hum. Robot Interact., 2024)