Teaching by touching: Interpretation of tactile instructions for motion development. - Fabio Dalla Libera; Fransiska Basoeki; Takashi Minato; Hiroshi Ishiguro; Emanuele Menegatti (IROS, 2011)

A study on the use of tactile instructions for developing robot's motions. - Fransiska Basoeki; Fabio DallaLibera; Takashi Minato; Hiroshi Ishiguro (Artif. Life Robotics, 2012)

Clustering of Humanoid Robot Motions Executed in Response to Touch. - Fransiska Basoeki; Fabio Dalla Libera; Emanuele Menegatti; Enrico Pagello; Hiroshi Ishiguro (IAS, 2014)

How do People Expect Humanoids to Respond to Touch? - Fransiska Basoeki; Fabio Dalla Libera; Hiroshi Ishiguro (Int. J. Soc. Robotics, 2015)

On the human perception of dissimilarities between postures of humanoids. - Fransiska Basoeki; Fabio Dalla Libera; Hiroshi Ishiguro (Adv. Robotics, 2016)