Elastic Robot Trajectory Planning with Force Control. - Friedrich Pfeiffer; K. Richter; H. Wapenhans (Modelling the Innovation, 1990)

Optimal path planning including forces at the gripper. - Friedrich Pfeiffer; K. Richter (J. Intell. Robotic Syst., 1990)

A flexible link manipulator as a force measuring and controlling unit. - K. Richter; Friedrich Pfeiffer (ICRA, 1991)

Quality Assurance of Reader's Response in Medical Imaging. - Walter R. Steinbach; K. Richter (MIE, 1991)

Augmented flexible link manipulator trajectory control for moving a filled glass. - Friedrich Pfeiffer; K. Richter; M. Kovacsne-Bende (Robotersysteme, 1992)