Continuous impulsive force controller for Forbidden-Region Virtual Fixtures. - Daan Hennekens; Daniela Constantinescu; Maarten Steinbuch (ICRA, 2008)

Dynamic decoupling in motion systems using a gradient approximation-based algorithm. - Marcel Heertjes; Daan Willem Theresia Hennekens; Arjan van Engelen; Maarten Steinbuch (CDC, 2009)