Theses:

W. D. Stiehl (2005), Sensitive Skins and Somatic Processing for Affective and Sociable Robots Based Upon as Somatic Alphabet Approach. Master of Science thesis, Media Arts and Sciences, MIT.

W. D. Stiehl (2003), Tactile Perception in Robots: From the Somatic Alphabet to the Realization of a Fully "Sensitive Skin." Bachelor of Science thesis, Department of Mechanical Engineering, MIT.

Journal Papers:

C. Breazeal, A. Brooks, J. Gray, M. Hancher, J. McBean, W. D. Stiehl, and J. Strickon (2003), "Interactive Robot Theatre", Communications of the ACM, 46(7), pp. 76-85.

Synthetic Characters Group (B. Tomlinson, M. Downie, A. Benbasat, J. Wahl, W. Stiehl, B. Blumberg). (1999), "sand:stone - Artist Statement." Leonardo Vol. 32, No. 5, pp. 462-463.

Conference Papers:

W. D. Stiehl, J. Lieberman, C. Breazeal, L. Basel, R. Cooper, H. Knight, L. Lalla, A. Maymin, and S. Purchase (2006), "The Huggable: A Therapeutic Robotic Companion for Relational, Affective Touch." presented at IEEE Consumer Communications and Networking Conference, Las Vegas, NV, 2006.

W. D. Stiehl, J. Lieberman, C. Breazeal, L. Basel, L. Lalla, and M. Wolf (2005), "The Design of the Huggable: A Therapeutic Robotic Companion for Relational, Affective Touch." presented at AAAI Fall Symposium on Caring Machines: AI in Eldercare, Washington, D.C., 2005.

W. D. Stiehl and C. Breazeal (2005), "Affective Touch for Robotic Companions." Proceedings of the 2005 First International Conference on Affective Computing and Intelligent Interaction (ACII 2005), LNCS 3784, pp. 747-754 Beijing, China, 2005. (Paper also available from Springer-Verlag)

W. D. Stiehl, J. Lieberman, C. Breazeal, L. Basel, L. Lalla, and M. Wolf (2005), "Design of a Therapeutic Robotic Companion for Relational, Affective Touch." presented at IEEE International Workshop on Robot and Human Interactive Communication (RO-MAN 2005), pp. 408-415, Nashville, TN, 2005.

W. D. Stiehl, L. Lalla, and C. Breazeal (2004). "Applying a Somatic Alphabet Approach to Inferring Orientation, Motion and Direction in Clusters of Force Sensing Resistors." Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS04), Sendai, Japan.

W. D. Stiehl, L. Lalla, and C. Breazeal (2004). "A Somatic Alphabet Approach to Sensitive Skin for Robots." Proceedings of the 2004 International Conference on Robotics and Automation (ICRA 2004), pp. 2865—2870, New Orleans, LA.

C. Breazeal, A. Brooks, J. Gray, M. Hancher, C. Kidd, J. McBean, W.D. Stiehl, and J. Strickon (2003), "Interactive Robot Theatre", In Proceedings of IROS 2003.

C. Breazeal, A. Brooks, M. Hancher, C. Kidd, J. McBean, D. Stiehl, and J. Strickon (2002), "Public Anemone: An Organic Robot Creature", In SIGGRAPH 2002 Conference Abstracts and Applications, p. 76, ACM Press, NY.

B. Blumberg, B. Tomlinson, M. P. Johnson, S. Yoon, M. Downie, A. Benbasat, J. Wahl, D. Stiehl, D. Nain, J. Paradiso (1999), "(void*): A Cast of Characters", In SIGGRAPH 1999 Conference Abstracts and Applications, p. 169, ACM Press, NY.