A Human-Like Robot Hand and Arm with Fluidic Muscles: Biologically Inspired Construction and Functionality. - Ivo Boblan; Rudolf Bannasch; Hartmut Schwenk; Frank Prietzel; Lars Miertsch; Andreas Schulz (Embodied Artificial Intelligence, 2003)

A Human-Like Robot Torso ZAR5 with Fluidic Muscles: Toward a Common Platform for Embodied AI. - Ivo Boblan; Rudolf Bannasch; Andreas Schulz; Hartmut Schwenk (50 Years of Artificial Intelligence, 2006)