Here is a list of publications. You can also find them on Google Scholar.
 B. Zhang, M. Hagenow, B. Mutlu, M. Zinn and M. Gleicher, “Assessing the Perceived Realism of Kinesthetic Haptic Renderings Under Parameter Variations,” 2022 IEEE Haptic Symposium, Accepted. Selected to present at the plenary session.
 M. Hagenow, B. Zhang, B. Mutlu, M. Zinn and M. Gleicher, “Recognizing Orientation Slip in Human Demonstrations,” 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021, pp. 2790-2797,doi: 10.1109/ICRA48506.2021.9561856
 B. Zhang, M. Hagenow, B. Mutlu, M. Gleicher and M. Zinn, “Characterizing the Effects of Haptic Rendering Parameter Variations on Perceived Kinesthetic Rendering Accuracy,” 2021 IEEE World Haptics Conference(WHC), 2021, pp. 868-868, doi: 10.1109/WHC49131.2021.9517158
 K. Gabardi, P. Dills, B. Zhang and M. Zinn, “Factors Affecting the Stable Range of Damping and Mass in Admittance Type Haptic Devices,” 2021 IEEE World Haptics Conference (WHC), 2021, pp. 865-865, doi:10.1109/WHC49131.2021.9517150
 B. Zhang, D. Farley, H. Ploeg, and M. Zinn. “Validation of Feedback Control Approach for an Implantable Limb Lengthening Device.” Proceedings of the 2017 Design of Medical Devices Conference. 2017 Design of Medical Devices Conference. Minneapolis, Minnesota, USA. April 10–13, 2017. V001T03A006. ASME. https://doi.org/10.1115/DMD2017-3456