On grasping planar objects with two articulated fingers. - Jacob M. Abel; W. Holzmann; J. Michael McCarthy (IEEE J. Robotics Autom., 1985)

Enveloping, frictionless, planar grasping. - Jeffrey C. Trinkle; Jacob M. Abel; Richard P. Paul (ICRA, 1987)

An Investigation of Frictionless Enveloping Grasping in the Plane. - Jeffrey C. Trinkle; Jacob M. Abel; Richard P. Paul (Int. J. Robotics Res., 1988)

A contact stress model for multifingered grasps of rough objects. - Pramath R. Sinha; Jacob M. Abel (IEEE Trans. Robotics Autom., 1992)