Redundant grasps, redundant manipulators, and their dual relationships. - David R. Kerr; Michael Griffis; D. John Sanger; Joseph Duffy (J. Field Robotics, 1992)

Geometric modelling of boundless grasps. - Y. L. Xiong; D. John Sanger; David R. Kerr (Robotica, 1993)

Geometric modelling of bounded and frictional grasps. - Y. L. Xiong; D. John Sanger; David R. Kerr (Robotica, 1993)