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Song, A., D. Morris, J. E. Colgate, and M. A. Peshkin, "Real time stiffness display interface device for perception of virtual soft object", Intelligent Robots and Systems, 2005.(IROS 2005). 2005 IEEE/RSJ International Conference on: IEEE, pp. 139–143, 2005.
Song, A., D. Morris, and J. E. Colgate, "Haptic telemanipulation of soft environment without direct force feedback", Information Acquisition, 2005 IEEE International Conference on: IEEE, pp. 5–pp, 2005.
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Aiguo, S., D. Morris, and J. E. Colgate, "Real Time Softness Haptic Display Device for Teleoperation and Virtual Operation", Chinese Journal of Scientific Instrument, vol. 27, no. 2: CHINA INSTRUMENT & CONTROL SOCIETY, pp. 141, 2006.