The characteristic pair of joints-an effective approach for the inverse kinematic problem of robots. - Manfred Hiller; Christoph Woernle (ICRA, 1988)

Sufficient Conditions for the Mobility of Overconstrained Mechanisms. - René Bartkowiak; Christoph Woernle (ARK, 2012)

HiL simulation in biomechanics: A new approach for testing total joint replacements. - Sven Herrmann; Michael Kaehler; Robert Souffrant; Roman Rachholz; János Zierath; Daniel Kluess; Wolfram Mittelmeier; Christoph Woernle; Rainer Bader (Comput. Methods Programs Biomed., 2012)

Force Closure Mechanism Modeling for Musculoskeletal Multibody Simulation. - Andreas Geier; Harald Aschemann; Darryl D. Lima; Christoph Woernle; Rainer Bader (IEEE Trans. Biomed. Eng., 2018)

An Artificial Potential Field Algorithm for Path Planning of Redundant Manipulators Based on Navigation Functions. - Iman Soodmand; Maeruan Kebbach; Sven Herrmann; Rainer Bader; Christoph Woernle (ARK, 2022)