Kinematic calibration by direct estimation of the Jacobian matrix. - David J. Bennett; John M. Hollerbach; Paul D. Henri (ICRA, 1992)

An Analytical and Experimental Investigation of a Jet Pipe Controlled Electropneumatic Actuator. - Paul D. Henri; John M. Hollerbach (ICRA, 1994)

An analytical and experimental investigation of a jet pipe controlled electropneumatic actuator. - Paul D. Henri; John M. Hollerbach; Ali Nahvi (IEEE Trans. Robotics Autom., 1998)