A Survey of Robot Tactile Sensing Technology. - Howard R. Nicholls; Mark H. Lee (Int. J. Robotics Res., 1989)

Virtual Devices and Intelligent Gripper Control in Robotics. - Howard R. Nicholls; Jem J. Rowland; K. A. I. Sharp (Robotica, 1989)

A virtual sensor implementation for a flexible assembly machine. - Jem J. Rowland; Howard R. Nicholls (Robotica, 1995)

Using simulation for plant monitoring in real time. - Howard R. Nicholls; Jem J. Rowland; M. G. Taylor (ICRA, 1997)