Sense Organs of Insect Legs and the Selection of Sensors for Agile Walking Robots. - Fred Delcomyn; Mark E. Nelson; Jan H. Cocatre-Zilgien (Int. J. Robotics Res., 1996)

Performance of a muscle-like "leaky" pneumatic actuator powered by modulated air pulses. - Jan H. Cocatre-Zilgien; Fred Delcomyn; John M. Hart (J. Field Robotics, 1996)

Modeling stress and strain in an insect leg for simulation of campaniform sensilla responses to external forces. - Jan H. Cocatre-Zilgien; Fred Delcomyn (Biol. Cybern., 1999)