@article{zhang2022sonifyit,
  title={SonifyIt: Towards Transformative Sound for All Robots},
  author={Zhang, Brian J and Sigafoos, Noel and Moffit, Rabecka and Syed, Ibrahim and Adams, Lili S and Fick, Jason and Fitter, Naomi T},
  journal={Robotics and Automation Letters},
  year={2022},
  publisher={IEEE},
  volume={7},
  number={4},
  pages={10566--10572},
  doi = {10.1109/LRA.2022.3193228}
}