| 2015 | HRI | Environment Perception in the Presence of Kinesthetic or Tactile Guidance Virtual Fixtures. | Samuel B. Schorr, Zhan Fan Quek, William R. Provancher, Allison M. Okamura |
| 2015 | HRI | Tactile Skin Deformation Feedback for Conveying Environment Forces in Teleoperation. | Samuel B. Schorr, Zhan Fan Quek, William R. Provancher, Allison M. Okamura |
| 2015 | ICRA | Sensory substitution of force and torque using 6-DoF tangential and normal skin deformation feedback. | Zhan Fan Quek, Samuel B. Schorr, Ilana Nisky, William R. Provancher, Allison M. Okamura |
| 2014 | VR | An ungrounded tactile feedback device to portray force and torque-like interactions in virtual environments. | Ashley L. Guinan, Markus N. Montandon, Andrew J. Doxon, William R. Provancher |
| 2013 | ICRA | Sensory substitution via cutaneous skin stretch feedback. | Samuel B. Schorr, Zhan Fan Quek, Robert Y. Romano, Ilana Nisky, William R. Provancher, Allison M. Okamura |
| 2008 | ICRA | ROCR: Dynamic vertical wall climbing with a pendular two-link mass-shifting robot. | Samuel Jensen-Segal, Steven Virost, William R. Provancher |
| 2003 | IROS | Feedback strategies for shared control in dexterous telemanipulation. | Weston B. Griffin, William R. Provancher, Mark R. Cutkosky |
| 2003 | ISRR | Perception of Curvature and Object Motion Via Contact Location Feedback. | William R. Provancher, Katherine J. Kuchenbecker, Gnter Niemeyer, Mark R. Cutkosky |