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"Joint Torque Sensory Feedback in the Control of a PUMA Manipulator", IEEE Transactions on Robotics and Automation, vol. 5, no. 4, pp. 418-425, August, 1989.
"A General Contact Model for Dynamically-Decoupled Force/Motion Control", Preprints of the ISER Proceedings, 1997.
"Joint Torque Sensory Feedback in the Control of a PUMA Manipulator", Proceedings of the American Control Conference, Seattle, WA, pp. 818-824, June, 1986.