Comparing and Configuring Soft Tendon Designs for Variable Stiffness Actuators on a Robot Arm. - Laurenz Elstner; Raquel Motzfeldt Tirach; Erik Kyrkjebø; Martin F. Stoelen (RoboSoft, 2023)

Contact-Rich Task Learning on an Articulated Soft Robot Arm Through Simulation. - Laurenz Elstner; Erik Kyrkjebø; Martin F. Stoelen (TAROS (2), 2024)