A method for sensorizing soft actuators and its application to the RBO hand 2. - Vincent Wall; Gabriel Zöller; Oliver Brock (ICRA, 2017)

Acoustic Sensing for Soft Pneumatic Actuators. - Gabriel Zöller; Vincent Wall; Oliver Brock (IROS, 2018)

Active Acoustic Contact Sensing for Soft Pneumatic Actuators. - Gabriel Zöller; Vincent Wall; Oliver Brock (ICRA, 2020)

Passive and active acoustic sensing for soft pneumatic actuators. - Vincent Wall; Gabriel Zöller; Oliver Brock (Int. J. Robotics Res., 2023)