A snake-like robot incorporating translational and rotation degrees of freedom. - Richard Primerano; Alexander Pietrocola; Marco Janko (IROS, 2013)

Scale Dependence of Force Patterns During the Scanning of a Surface by a Bare Finger. - Marco Janko; Richard Primerano; Yon Visell (EuroHaptics (1), 2014)

On Frictional Forces between the Finger and a Textured Surface during Active Touch. - Marco Janko; Richard Primerano; Yon Visell (IEEE Trans. Haptics, 2016)

A partial contact frictional force model for finger-surface interactions. - Marco Janko; Zhengqiao Zhao; Moshe Kam; Yon Visell (HAPTICS, 2018)