Analyzing the Performance Limits of Articulated Soft Robots Based on the ESPi Framework: Applications to Damping and Impedance Control. - Manuel Keppler; Florian Loeffl; David Wandinger; Clara Raschel; Christian Ott 001 (IEEE Robotics Autom. Lett., 2021)

Robust Stabilization of Elastic Joint Robots by ESP and PID Control: Theory and Experiments. - Manuel Keppler; Clara Raschel; David Wandinger; Andreas Stemmer; Christian Ott 001 (IEEE Robotics Autom. Lett., 2022)

Impact Robustness Versus Torque Bandwidth: A Design Guide for Differential Elastic Actuators. - Anton Leonhard Shu; Clara Raschel; Manuel Keppler; Armin Wedler; Martin Görner (IEEE Trans. Robotics, 2024)