The Development on a New Biomechatronic Prosthetic Hand Based on Under-actuated Mechanism. - Hai Huang 004; Li Jiang 001; Dawei Zhao; Jingdong Zhao; Hegao Cai; Hong Liu 002; Peter Meusel; Bertram Willberg; Gerd Hirzinger (IROS, 2006)

Control of Large Forces and Torques - Using an Asymmetrically Arranged Compliant Sensor. - Friedrich Lange; Bertram Willberg; Gerd Hirzinger (ISR/ROBOTIK, 2010)

Dexhand: A Space qualified multi-fingered robotic hand. - Maxime Chalon; Armin Wedler; Andreas Baumann; Wieland Bertleff; Alexander Beyer; Jörg Butterfaß; Markus Grebenstein; Robin Gruber; Franz Hacker; Erich Krämer; Klaus Landzettel; Maximilian Maier; et al. (ICRA, 2011)