Robot assisted tapping control for therapeutical percussive massage applications. - Ren C. Luo; Chin Po Tsai; Kai Chun Hsieh (ICRA, 2017)

Tapping motion control of dynamic impulse-momentum contact to human body for robotic therapeutical percussive massage. - Ren C. Luo; Kai Chun Hsieh (ISIE, 2017)

Tapping motion detection incorporate with impedance control of robotics tapotement massage on human tissue. - Ren C. Luo; Kai Chun Hsieh (AMC, 2018)