Hyperstatic Grasping Optimization with Finger Deformability and Sliding Constraints. - B. Barkat; Guy Bessonnet; Jean-Paul Lallemand (ICRA, 1994)

Optimization of grasping forces in handling of brittle objects. - B. Barkat; Saïd Zeghloul; Jean-Pierre Gazeau (Robotics Auton. Syst., 2009)