A Novel Bio-inspired Tactile Tumour Detection Concept for Capsule Endoscopy. - Benjamin Winstone; Chris Melhuish; Sanja Dogramadzi; Tony Pipe; Mark Callaway (Living Machines, 2014)

Biomimetic Tactile Sensing Capsule. - Benjamin Winstone; Tony Pipe; Chris Melhuish; Sanja Dogramadzi; Mark Callaway (Living Machines, 2015)

Single motor actuated peristaltic wave generator for a soft bodied worm robot. - Benjamin Winstone; Tony Pipe; Chris Melhuish; Mark Callaway; Appolinaire C. Etoundi; Sanja Dogramadzi (BioRob, 2016)