DLR's Multisensory Articulated Hand. - Gerd Hirzinger; Jörg Butterfaß; S. Knoch; Hong Liu 002 (ISER, 1997)

DLR's Multisensory Articulated Hand - Part I: Hard- and Software Architecture. - Jörg Butterfaß; Gerd Hirzinger; S. Knoch; Hong Liu 002 (ICRA, 1998)

DLR's Multisensory Articulated Hand - Part II: The Parallel Torque/Position Control System. - Hong Liu 002; Peter Meusel; Jörg Butterfaß; Gerd Hirzinger (ICRA, 1998)

A Mechatronics Approach to the Design of Light-Weight Arms and Multifingered Hands. - Gerd Hirzinger; Jörg Butterfaß; Max Fischer; Markus Grebenstein; Matthias Hähnle; Hong Liu 002; Ingo Schäfer; Norbert Sporer (ICRA, 2000)

A new Generation of Light-Weight Robot Arms and Multifingered Hands. - Gerd Hirzinger; Jörg Butterfaß; Max Fischer; Markus Grebenstein; Matthias Hähnle; Hong Liu 002; Ingo Schäfer; Norbert Sporer; Markus Schedl; Reinhard Koeppe (ISER, 2000)

DLR-Hand II Next Generation of a Dextrous Robot Hand. - Jörg Butterfaß; Markus Grebenstein; Hong Liu 002; Gerd Hirzinger (ICRA, 2001)

Torque-controlled Light Weight Arms and Articulated Hands - Do We Reach Technological Limits Now?. - Gerd Hirzinger; Norbert Sporer; Markus Schedl; Jörg Butterfaß; Markus Grebenstein (ISER, 2002)

The HIT/DLR dexterous hand: work in progress. - X. H. Gao; M. H. Jin; Li Jiang 001; Zongwu Xie; P. He; L. Yang; Yiwei Liu 001; Ran Wei; Hegao Cai; Hong Liu 002; Jörg Butterfaß; Markus Grebenstein; et al. (ICRA, 2003)

DLR hand II: hard- and software architecture for information processing. - Steffen Haidacher; Jörg Butterfaß; Max Fischer; Markus Grebenstein; Klaus Jöhl; Klaus Kunze; Matthias Nickel; Nikolaus Seitz; Gerd Hirzinger (ICRA, 2003)

Space Robotics-DLR's Telerobotic Concepts, Lightweight Arms and Articulated Hands. - Gerd Hirzinger; Bernhard Brunner; Klaus Landzettel; Norbert Sporer; Jörg Butterfaß; Markus Schedl (Auton. Robots, 2003)

High Performance DSP/FPGA Controller for Implementation of HIT/DLR Dexterous Robot Hand. - P. He; M. H. Jin; L. Yang; Ran Wei; Yiwei Liu 001; Hegao Cai; Hong Liu 002; Nikolaus Seitz; Jörg Butterfaß; Gerd Hirzinger (ICRA, 2004)

Torque-Controlled Lightweight Arms and Articulated Hands: Do We Reach Technological Limits Now? - Gerd Hirzinger; Norbert Sporer; Markus Schedl; Jörg Butterfaß; Markus Grebenstein (Int. J. Robotics Res., 2004)

The DLR-Crawler: A testbed for actively compliant hexapod walking based on the fingers of DLR-Hand II. - Martin Görner; Thomas Wimböck; Andreas Baumann; Matthias Fuchs; Thomas Bahls; Markus Grebenstein; Christoph Borst 001; Jörg Butterfaß; Gerd Hirzinger (IROS, 2008)

Dexhand: A Space qualified multi-fingered robotic hand. - Maxime Chalon; Armin Wedler; Andreas Baumann; Wieland Bertleff; Alexander Beyer; Jörg Butterfaß; Markus Grebenstein; Robin Gruber; Franz Hacker; Erich Krämer; Klaus Landzettel; Maximilian Maier; et al. (ICRA, 2011)

Agile Justin: An upgraded member of DLR's family of lightweight and torque controlled humanoids. - Berthold Bäuml; Tobias Hammer; René Wagner; Oliver Birbach; Thomas Gumpert; F. Zhi; Ulrich Hillenbrand; S. Beer; Werner Friedl; Jörg Butterfaß (ICRA, 2014)

Virtual elasto-plastic robot compliance to active environments. - Michael Panzirsch; Harsimran Singh; Xuwei Wu; Maged Iskandar; Anne Köpken; Rute Luz; Nesrine Batti; Florian Samuel Lay; Ajithkumar Narayanan Manaparampil; Luisa Mayershofer; Xiaozhou Luo; Robert Burger; et al. (Sci. Robotics, 2025)