Information for assembly from impacts. - Bertil A. T. Soderquist; Åke Wernersson (ICRA, 1992)

On combining accelerometers, force/torque sensors, and electrical sensing for detecting contact errors during assembly. - Charlotta Bergqvist; Bertil A. T. Soderquist; Åke Wernersson (IROS, 1994)

A vehicle on a surface: reconstructing shape and discontinuities using rate gyros. - Bengt Boberg; Åke Wernersson; Bertil A. T. Soderquist (IROS, 1994)

Monitoring the generic assembly operation for impact from gripping to finished insertion. - Charlotta Linderstam; Bertil A. T. Soderquist (ICRA, 1996)