A Preliminary Study of Soft Material Robotic Modelling: Finite Element Method and Cosserat Rod Model. - Rebecca Berthold; Max Niklas Bartholdt; Mats Wiese; Stephanie Kahms; Svenja Spindeldreier; Annika Raatz (ICCMA, 2021)

Towards a Modular Framework for Visco-Hyperelastic Simulations of Soft Material Manipulators with Well-Parameterised Material. - Max Bartholdt; Rebecca Berthold; Moritz Schappler (RoboSoft, 2023)

Describing and Analyzing Mechanical Contact for Continuum Robots Using a Shooting-Based Cosserat Rod Implementation. - Mats Wiese; Rebecca Berthold; Matthias Wangenheim; Annika Raatz (IEEE Robotics Autom. Lett., 2024)