Experimental evaluation of a new traction-drive robotic transmission. - Wyatt S. Newman; Yuandao Zhang; William J. Anderson; William Shipitalo (ICRA, 1992)

Stable interaction control and coulomb friction compensation using natural admittance control. - Wyatt S. Newman; Yuandao Zhang (J. Field Robotics, 1994)

A SPICE model for a novel brushless adjustable-speed drive. - Michael A. Inerfield; Steven L. Garverick; Wyatt S. Newman; Yuandao Zhang (IEEE Trans. Ind. Electron., 2000)