Papers
J. McBean (2004). "Design and Control of a Voice Coil Actuated Arm for Human-Robot Interaction" Masters of Science Thesis Department of Mechanical Engineering MIT

J. McBean and C. Breazeal (2004). "
Voice Coil Actuators for Human-Robot Interaction" , Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS04) Sendai, Japan

W. Stiehl and C. Breazeal (2005). "Design of a Therapeutic Robotic Companion for Relational, Affective Touch" Proceedings of Fourteenth IEEE Workshop on Robot and Human Interactive Communication (Ro-Man05) Nashville, TN