OCTA Display: A Pin-Actuated Triangle-Surface Fingertip Shape Display - Design & Initial Tests. - Duncan G. Raitt; Peter Fairhurst; Calum Michael; Zoltan Melkes; Yeongmi Kim; Matthias Harders (WHC, 2019)

Soft-Tipped Sensor With Compliance Control for Elasticity Sensing and Palpation. - Duncan G. Raitt; Mahmud Huseynov; Shervanthi Homer-Vanniasinkam; Helge A. Wurdemann; Sara-Adela Abad (IEEE Trans. Robotics, 2024)