Progressive Series-Elastic Actuation with Magnet-based Non-linear Elastic Elements. - Boi Okken; Stefano Stramigioli; Wesley Roozing (SSRR, 2022)

Design of a Novel Tomato Harvesting Gripper. - Boi Okken; Floris Kaper; Rick Muller; Jan de Jong (ERF (1), 2024)

Variable Stiffness Mechanism Using a Cam Profile. - Floris van Ruitenbeek; Boi Okken; Wesley Roozing (ERF (1), 2024)

Tendon Routing Optimisation of a Tendon-Driven Gripper to Maximise Force Transmission Efficiency. - Boris Feldbrugge; Boi Okken; Wesley Roozing (Humanoids, 2024)