A concise introduction to the written juggling notation called SiteSwaps.

Complex math and applications to juggling patterns. A joint research by Joe Buhler of Reed College and Ron Graham of AT&T Bell Labs.

An introduction to siteswap notation, illustrated by animated gifs.

Provides answers to common questions about siteswap notation.

A paper from Scientific American, November 1995. Includes an overview of learning mechanisms, robot jugglers, and mathematical theory.