Geometry-based Direct Simulation for Multi-Material Soft Robots. - Guoxin Fang; Christopher-Denny Matte; Tsz-Ho Kwok; Charlie C. L. Wang (ICRA, 2018)

Kinematics of Soft Robots by Geometric Computing. - Guoxin Fang; Christopher-Denny Matte; Rob B. N. Scharff; Tsz-Ho Kwok; Charlie C. L. Wang (IEEE Trans. Robotics, 2020)

Simulation of Hyperelasticity by Shape Estimation. - Christopher-Denny Matte; Tsz-Ho Kwok (J. Comput. Inf. Sci. Eng., 2021)

Modeling Elastic Cable-Surface Friction for Soft Robots. - Christopher-Denny Matte; Tsz-Ho Kwok (J. Comput. Inf. Sci. Eng., 2025)