Estimating Friction Using Incipient Slip Sensing During a Manipulation Task. - Marc R. Tremblay; Mark R. Cutkosky (ICRA (1), 1993)

Using sensor fusion and contextual information to perform event detection during a phase-based manipulation task. - Marc R. Tremblay; Mark R. Cutkosky (IROS (3), 1995)

An Object-oriented Framework for Event-Driven Dextrous Maniputlation. - James M. Hyde; Marc R. Tremblay; Mark R. Cutkosky (ISER, 1995)