AFM-based micro force sensor and haptic interface for a nanohandling robot. - Stephan Fahlbusch; Alexandr Shirinov; Sergej Fatikow (IROS, 2002)

Development of mobile versatile nanohandling microrobots: design, driving principles, haptic control. - Axel Kortschack; Alexandr Shirinov; Tammo Trüper; Sergej Fatikow (Robotica, 2005)