Modeling the Optical Sensing Principle of the PapillArray Tactile Sensor. - Pablo Martinez Ulloa; David Cordova Bulens; Benjamin Xia; Heba Khamis; Stephen J. Redmond (IEEE SENSORS, 2021)

Incipient Slip Detection for Rectilinear Movements using the PapillArray Tactile Sensor. - Pablo Martinez Ulloa; David Cordova Bulens; Stephen J. Redmond (IEEE SENSORS, 2022)

Robust Learning-Based Incipient Slip Detection Using the PapillArray Optical Tactile Sensor for Improved Robotic Gripping. - Qiang Wang; Pablo Martinez Ulloa; Robert Burke; David Cordova Bulens; Stephen J. Redmond (IEEE Robotics Autom. Lett., 2024)