Quasi-Direct Drive for Low-Cost Compliant Robotic Manipulation. - David V. Gealy; Stephen McKinley; Brent Yi; Philipp Wu; Phillip R. Downey; Greg Balke; Allan Zhao; Menglong Guo; Rachel Thomasson; Anthony Sinclair; Peter Cuellar; Zoe McCarthy; et al. (ICRA, 2019)

Distal Hyperextension Is Handy: High Range of Motion in Cluttered Environments. - Wilson Ruotolo; Rachel Thomasson; Joel Herrera; Alexander Gruebele; Mark R. Cutkosky (IEEE Robotics Autom. Lett., 2020)

Exploratory Hand: Leveraging Safe Contact to Facilitate Manipulation in Cluttered Spaces. - Michael A. Lin; Rachel Thomasson; Gabriela Uribe; Hojung Choi; Mark R. Cutkosky (IEEE Robotics Autom. Lett., 2021)

Going In Blind: Object Motion Classification using Distributed Tactile Sensing for Safe Reaching in Clutter. - Rachel Thomasson; Etienne Roberge; Mark R. Cutkosky; Jean-Philippe Roberge (IROS, 2022)

SLIM: A Symmetric, Low-Inertia Manipulator for Constrained, Contact-Rich Spaces. - Rachel Thomasson; Alessandra Bernardini; Hao Li 076; Chengyi Xing; Amar Hajj-Ahmad; Mark R. Cutkosky (IEEE Robotics Autom. Lett., 2025)