D. Morris and J.K. Salisbury. "Automatic Preparation, Calibration, and Simulation of Deformable Objects". Computer Methods in Biomechanics and Biomedical Engineering (Taylor & Francis Publishing), Vol 11.4, p263-279, 2008.

C. Sewell, D. Morris, N.H. Blevins, S. Dutta, S. Agrawal, F. Barbagli, and K. Salisbury. "Providing Metrics and Performance Feedback in a Surgical Simulator". Computer Aided Surgery, Volume 13 Issue 2, March 2008, pp. 63-81.

D. Morris, H. Tan, F. Barbagli, T. Chang, K. Salisbury. "Haptic Feedback Enhances Force Skill Learning". Proc IEEE World Haptics, March 2007. Best paper award.

C. Sewell, N.H. Blevins, S. Peddamatham, H.Z. Tan, D. Morris, K. Salisbury. "The Effect of Virtual Haptic Training on Real Surgical Drilling Proficiency". Short paper, Proc IEEE World Haptics, March 2007.

K. Loewke, D. Camarillo, C. Jobst, J.K. Salisbury. "Real-Time Image Mosaicing for Optical Biopsy." Proc. of Medicine Meets Virtual Reality 2007, IOS Press, pp. 304-309.

C. Sewell, D. Morris, N.H. Blevins, F. Barbagli, K. Salisbury. "Validating Metrics for a Mastoidectomy Simulator". Proc. of Medicine Meets Virtual Reality 2007, IOS Press, pp. 421-426.

C. Sewell, D. Morris, N.H. Blevins, F. Barbagli, K. Salisbury. "Evaluating Drilling and Suctioning Technique in a Mastoidectomy Simulator". Proc. of Medicine Meets Virtual Reality 2007, IOS Press, pp. 427-432.

D. Morris, C. Sewell, F. Barbagli, N. Blevins, S. Girod, K. Salisbury. "Visuohaptic Simulation of Bone Surgery for Training and Evaluation". IEEE Computer Graphics and Applications, Vol. 26, No. 4, p48-57, November 2006.

N. Diolaiti, G. Niemeyer, F. Barbagli, K. Salisbury. " Stability of Haptic Rendering: Quantization, Discretization, Time-Delay and Coulomb Effects", IEEE Transactions on Robotics, April 2006, 22(2):256-268.

F. Barbagli, K. Salisbury, C. Ho, C. Spence, H. Tan. "Haptic Discrimination of Force Direction and the Influence of Visual Information". ACM Transactions on Applied Perception, Vol. 3, No. 2, April 2006, pp. 125-135.

E. Ruffaldi, D. Morris, T. Edmunds, F. Barbagli, D. K.Pai, "Standardized Evaluation of Haptic Rendering Systems", 13th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 2006, pp. 225-232.

A. Frisoli, F. Barbagli, E. Ruffaldi, K. Salisbury, M. Bergamasco, "A Limit-Curve Based Soft Finger god-object Algorithm", 13th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, March 2006, pp. 217-224.

M. Meehan, D. Morris, C. R. Maurer, A. K. Antony, F. Barbagli, K. Salisbury, S. Girod. "Virtual 3D Planning and Guidance of Mandibular Distraction Osteogenesis". Computer Aided Surgery, March 2006; 11(2): 51-62.

H. Tan, F. Barbagli, K. Salisbury, C. Ho, C. Spence, "Force-Direction Discrimination is not Influenced by Reference Force Direction", Haptics-e, Vol. 4, No. 1, 3-Feb-2006.

Morris D. "Automatic Preparation, Calibration, and Simulation of Deformable Objects." Stanford University Department of Computer Science Technical Report 2006-07.

Morris D. "Algorithms and Data Structures for Haptic Rendering: Curve Constraints, Distance Maps, and Data Logging." Stanford University Department of Computer Science Technical Report 2006-06.

Sewell C, Morris D, Blevins N, Barbagli F, Salisbury K. "Achieving Proper Exposure in Surgical Simulation". Proceedings of MMVR (Medicine Meets Virtual Reality) XIV, Long Beach, CA, January 2006, pp. 497-502.

F. Barbagli, D. Prattichizzo, K. Salisbury. "A Multi-Rate Approach to Haptic Interaction with Deformable Objects: Single and Multi-Point Contacts". Special Issue on the 11th International Symposium on Robotics Research in the International Journal of Robotics Research, Volume 24, Issue 9, pages 703-716, September 2005.

N. Diolaiti, G. Niemeyer, F. Barbagli, K. Salisbury. "A criterion for the passivity of haptic devices". In Proc. IEEE Int. Conf. on Robotics and Automation, pages 2463-2468, April 2005.

N. Diolaiti, G. Niemeyer, F. Barbagli, K. Salisbury, C. Melchiorri, "The effect of quantization and coulomb friction on the stability of haptic rendering", In Proc World Haptics Conference, March 2005.

Morris D, Girod S, Barbagli F, Salisbury K. "An Interactive Simulation Environment for Craniofacial Surgical Procedures". Proceedings of MMVR (Medicine Meets Virtual Reality) XIII, Long Beach, CA, January 2005.

Sewell C, Morris D, Blevins N, Barbagli F, Salisbury K. "Quantifying Risky Behavior in Surgical Simulation". Proceedings of MMVR (Medicine Meets Virtual Reality) XIII, Long Beach, CA, January 2005, pp. 451-457.

Morris D, Sewell C, Blevins N, Barbagli F, Salisbury K. "A Collaborative Environment for the Simulation of Temporal Bone Surgery". Proceedings of MICCAI (Medical Image Computing and Computer-Aided Intervention) VII, Rennes, France, September 26-30 2004.

Sewell C, Morris D, Blevins N, Barbagli F, Salisbury K. "An Event-Driven Framework for the Simulation of Complex Surgical Procedures". Proceedings of MICCAI (Medical Image Computing and Computer-Aided Intervention) VII, Rennes, France, September 26-30 2004.

K. Salisbury, F. Barbagli and F. Conti, "Haptic Rendering: Introductory Concepts", IEEE Computer Graphics and Applications Magazine, special issue on Haptic Rendering, April 2004.

F. Barbagli, K. Salisbury, "The Effect of Sensor/Actuator Asymmetries in Haptic Interfaces", Haptics Symposium 2003, Los Angeles, California, March 2003, 140-147.

Walker, S., Salisbury, J. K., 2003. "Large Haptic Topographic Maps: MarsView and the Proxy Graph Algorithm". In ACM SIGGRAPH 2003 Symposium on Interactive 3D Graphics, 83-92.

F. Conti, F. Barbagli, R. Balaniuk, M. Halg, C. Lu & D. Morris. "The CHAI Libraries". Demonstration at EuroHaptics 2003, July 2003.