| On the feasibility and suitability of MR fluid clutches in human-friendly manipulators AS Shafer, MR Kermani IEEE/ASME Transactions on Mechatronics 16 (6), 1073-1082, 2010 | 154 | 2010 |
| Design and validation of a magneto-rheological clutch for practical control applications in human-friendly manipulation AS Shafer, MR Kermani 2011 IEEE international conference on robotics and automation, 4266-4271, 2011 | 72 | 2011 |
| Design and development of a single-motor, two-DOF, safe manipulator P Yadmellat, AS Shafer, MR Kermani IEEE/ASME Transactions on Mechatronics 19 (4), 1384-1391, 2013 | 47 | 2013 |
| On the feasibility and suitability of MR and ER based actuators in human friendly manipulators AS Shafer, MR Kermani 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2009 | 34 | 2009 |
| Sensorized robotic gripping device J Bingham, T Alexander, B Homberg, J DelPreto, A Shafer US Patent 10,682,774, 2020 | 33 | 2020 |
| Magneto-rheological clutch with sensors measuring electromagnetic field strength A Shafer, MR Kermani, TUOW Ontario CA Patent App. 2,776,800, 2010 | 26* | 2010 |
| Development of high performance intrinsically safe 3-DOF robot AS Shafer, MR Kermani 2014 IEEE International Conference on Robotics and Automation (ICRA), 619-624, 2014 | 24 | 2014 |
| Design and development of a safe robot manipulator using a new actuation concept P Yadmellat, AS Shafer, MR Kermani 2013 IEEE International Conference on Robotics and Automation, 337-342, 2013 | 22 | 2013 |
| Magneto-and electro-rheological based actuators for human friendly manipulators A Shafer, M Kermani, TUOW Ontario US Patent App. 14/502,389, 2014 | 19* | 2014 |
| Retroreflective multi-axis force torque sensor A Shafer, A Reich, E Cooper US Patent 10,274,386, 2019 | 17 | 2019 |
| Determining final grasp pose of robot end effector after traversing to pre-grasp pose A Shafer US Patent 11,331,799, 2022 | 8 | 2022 |
| MR clutch with sensors measuring electromagnetic field strength A Shafer, M Kermani US Patent 20130047772, Feb, 2013 | 5 | 2013 |
| Sensorized robotic gripping device J Bingham, T Alexander, B Homberg, J DelPreto, A Shafer US Patent 11,407,125, 2022 | 2 | 2022 |
| Flexible Sensor for Measuring Flex or Torque A Shafer US Patent 10,190,928, 2019 | 2 | 2019 |
| Flexible sensor AS Shafer US Patent 10,900,853, 2021 | 1 | 2021 |
| Flexible sensor AS Shafer US Patent 10,451,505, 2019 | 1 | 2019 |
| Sensorized Robotic Gripping Device J Bingham, T Alexander, B Homberg, J DelPreto, A Shafer US Patent App. 18/631,636, 2024 | | 2024 |
| Mobile robot sensor configuration J Rembisz, A Shafer US Patent 12,030,178, 2024 | | 2024 |
| Sensorized robotic gripping device J Bingham, T Alexander, B Homberg, J DelPreto, A Shafer US Patent 11,975,446, 2024 | | 2024 |
| Mobile robot sensor configuration J Rembisz, A Shafer US Patent 11,597,104, 2023 | | 2023 |
