On rotations and translations with application to robot manipulators. - Moshe Shoham; Fuhua Jen (Adv. Robotics, 1993)

Liapunov Stability of Force-Controlled Grasps with a Multi-fingered hand. - Fuhua Jen; Moshe Shoham; Richard W. Longman (Int. J. Robotics Res., 1996)