Curved Fences for Part Alignment. - Mike Brokowski; Michael A. Peshkin; Kenneth Y. Goldberg (ICRA (3), 1993)

A complete algorithm for designing passive fences to orient parts. - Jeff Wiegley; Kenneth Y. Goldberg; Michael A. Peshkin; Mike Brokowski (ICRA, 1996)

Impedance restrictions on independent finger grippers. - Mike Brokowski; Michael A. Peshkin (IEEE Trans. Robotics Autom., 1997)