Maximum allowable manipulator mass based on cycle time, impact safety and pinching safety. - M. M. A. Vermeulen; Martijn Wisse (Ind. Robot, 2008)

Intrinsically Safe Robot Arm: Adjustable Static Balancing and Low Power Actuation. - Mathijs Vermeulen; Martijn Wisse (Int. J. Soc. Robotics, 2010)